Robust time-varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties

被引：40

作者：

Liu, Hao ^{[1
,2
]}

Lyu, Yafei ^{[1
]}

Lewis, Frank L. ^{[2
]}

Wan, Yan ^{[2
]}

机构：

[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China

[2] Univ Texas Arlington, Res Inst, Ft Worth, TX USA

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2019年 / 29卷 / 09期

基金：

中国国家自然科学基金;

关键词：

autonomous underwater vehicle; formation control; nonlinear system; robust control; uncertain system; CONSENSUS; SYNCHRONIZATION; SPACECRAFT; FEEDBACK; SYSTEMS; DESIGN;

D O I：

10.1002/rnc.4517

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 addresses the robust formation control problem for multiple autonomous underwater vehicles (AUVs) to achieve the desired formation trajectory and time-varying formation pattern and to align the vehicle attitudes. The dynamics of each AUV system involves parameter variations, nonlinear dynamics, and external disturbances. A robust distributed formation control protocol is developed based on the graph theory and the robust compensation theory. It is proven that the tracking errors of the global uncertain system can converge into a given neighborhood of the origin in a finite time. Simulation results substantiate the effectiveness of the developed formation control method for multiple AUVs subject to nonlinearities and uncertainties.

引用

页码：2712 / 2724

页数：13

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