Distributed robust model predictive control-based formation-containment tracking control for autonomous underwater vehicles

被引：6

作者：

Xu, Bo ^{[1
]}

Wang, Zhaoyang ^{[1
]}

Li, Weihao ^{[2
]}

Yu, Qiang ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin 150001, Peoples R China

[2] Univ Elect Sci & Technol China, Sch Aeronaut & Astronaut, Chengdu 611731, Peoples R China

来源：

OCEAN ENGINEERING | 2023年 / 283卷

关键词：

Autonomous underwater vehicle (AUV); Formation-containment tracking; Communication-measurement union; Distributed robust model predictive control; SURFACE VESSELS; LEADER; SYSTEMS; HYBRID;

D O I：

10.1016/j.oceaneng.2023.115210

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

The autonomous underwater vehicle (AUV) formation may be carried out in a complex maritime environment. The formation-containment tracking problem is faced with challenges due to limited input saturation and maritime safety constraints. Based on communication-measurement union, a navigation control integration framework is proposed to solve the poor observability of underwater acoustic communication interactions. Moreover, a control protocol based on distributed robust model predictive control is designed to efficiently coordinate cooperation between AUVs. With the proof of the Lyapunov theory, the proposed control method can achieve formation-containment tracking even in the presence of external disturbances. Finally, a 7-AUV formation-containment tracking numerical simulation is designed to verify the effectiveness of the proposed method.

引用

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页数：13

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