Distributed Adaptive Integral Sliding Mode Attitude Consensus Control for Multiple Autonomous Underwater Vehicles

被引：0
|
作者：
Liu, Sichen [1 ]
Fei, Qing [1 ]
Wang, Bo [1 ]
Geng, Qingbo [1 ]
机构：
[1] Beijing Inst Technol, Beijing 100081, Peoples R China
来源：
2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年
关键词：
Multiple Autonomous Underwater Vehicles; attitude consensus; adaptive control; integral sliding mode control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the attitude consensus problem of multiple Autonomous Underwater Vehicles (AUVs) in the case of communication delay with the directed communication network. A distributed adaptive integral sliding mode controller is designed for each vehicle to track the desired attitude. The inertia uncertainty and external disturbance in the dynamics of AUV are considered in designing the control law. The stability of the multi-AUV system is proved by Lyapunov theory. Finally, the simulation results are given to confirm the effectiveness of the proposed control law.
引用
收藏
页码：6706 / 6710
页数：5
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