Formation consensus control of multi-AUV system with switching topology

被引：0
|
作者：
Zhang X. [1 ]
Zhou L. [1 ]
Xing W. [1 ]
Yao S. [1 ]
机构：
[1] College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2023年 / 44卷 / 04期
关键词：
communication delay; consensus control; directional switching topology; feedback linearization; linear matrix inequality; multi-agent system; multi-AUV system formation; networked system;
D O I：
10.11990/jheu.202106059
中图分类号：
学科分类号：
摘要：
The coordinated control of multiple autonomous underwater vehicles (AUVs) is essential for ensuring underwater vehicle consensus in a motion state. Given the multiple autonomous underwater vehicle systems with communication delays, a consensus control protocol with relative position and velocity dampers is proposed, which uses the feedback linearization method to convert the kinematics and dynamic models of AUVs to the form of a second-order integrator. The Lyapunov-Krasovskii function is constructed for the system with time delay, using integral inequality and linear matrix inequality theory to obtain sufficient conditions for the coordinated control of multiple AUV systems. Simulation experiments demonstrate the effectiveness of the proposed control protocol and validate the robustness and stability of the control protocol when topologies switch randomly and formation changes. Furthermore, it is proven that multiple AUVs can converge to the desired position by setting the communication topology of the position layer and velocity layer to reduce the coupling of speed and position and improve the convergence speed. © 2023 Editorial Board of Journal of Harbin Engineering. All rights reserved.
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页码：587 / 593
页数：6
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