Passivity-based Formation Control of Autonomous Underwater Vehicles with Input Disturbances

被引：0

作者：

Yang, Tingting ^{[1
]}

Yu, Shuanghe ^{[1
]}

Zhang, Pengfei ^{[1
]}

Yan, Yan ^{[1
]}

机构：

[1] Dalian Maritime Univ, Coll Informat Sci & Technol, Dalian 110819, Liaoning, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

基金：

中国国家自然科学基金;

关键词：

Hamiltonian systems; Formation; Disturbance; Internal model; PORT-HAMILTONIAN FRAMEWORK; CONSTRAINTS; NETWORKS;

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 addresses the formation keeping of a network of Port-Controlled Hamiltonian(PCH) AUV multi-agent systems. The objective is solved by interconnecting agents with virtual couplings based on the internal principle, which can look into the energy consumption. Firstly, the controller for tracking estimated velocity is designed by ultilizing Hamiltonian theory. We assume that the desired velocity is time-varying and only known to part of the agents. Sencondly, an observer based on internal model is designed to overcome the input disturbances by adding extended states, while preserving the PCH form. Numerical simulation results are given to illustrate the effectiveness of the approach.

引用

页码：8324 / 8329

页数：6

共 50 条

[21] Robust Adaptive Formation Control of Underactuated Autonomous Underwater Vehicles Under Input Saturation
Li, Jian
Du, Jialu
[J]. PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 5798 - 5803
[22] Containment Control of Autonomous Underwater Vehicles With Stochastic Environment Disturbances
Yan, Jing
Peng, Silian
Yang, Xian
Luo, Xiaoyuan
Guan, Xinping
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (09): : 5809 - 5820
[23] Distributed Lyapunov-Based Model Predictive Formation Tracking Control for Autonomous Underwater Vehicles Subject to Disturbances
Wei, Henglai
Shen, Chao
Shi, Yang
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 51 (08): : 5198 - 5208
[24] Passivity-based Formation Control for UAVs with a Suspended Load
Meissen, Chris
Klausen, Kristian
Arcak, Murat
Fossen, Thor I.
Packard, Andrew
[J]. IFAC PAPERSONLINE, 2017, 50 (01): : 13150 - 13155
[25] Formation Control of Multiple Autonomous Underwater Vehicles Based on State Feedback
Li, Y. -P.
Yan, S. -X.
[J]. 2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 5523 - 5527
[26] Simulation of autonomous underwater vehicles formation control based on Simulink and VRML
Cui, Rong-Xin
Xu, De-Min
Xu, Zhe
Yan, Wei-Sheng
Pan, Ying
[J]. Xitong Fangzhen Xuebao / Journal of System Simulation, 2007, 19 (13): : 2881 - 2884
[27] GPIO-based optimal containment control for autonomous underwater vehicles with external disturbances
Cen, Yushan
Cao, Liang
Zhang, Linchuang
Pan, Yingnan
Liang, Hongjing
[J]. CHAOS SOLITONS & FRACTALS, 2024, 188
[28] Neural Network based Reinforcement Learning Control of Autonomous Underwater Vehicles with Control Input Saturation
Cui, Rongxin
Yang, Chenguang
Li, Yang
Sharma, Sanjay
[J]. 2014 UKACC INTERNATIONAL CONFERENCE ON CONTROL (CONTROL), 2014, : 50 - 55
[29] Passivity-based stabilizing controller for an underwater robot
Keymasi-Khalaji, Ali
Haghjoo, Monem
[J]. OCEAN ENGINEERING, 2024, 302
[30] Adaptive Path-Tracking Control With Passivity-Based Observer by Port-Hamiltonian Model for Autonomous Vehicles
Ma, Yan
He, Liang
Song, Ting
Wang, Danwei
[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2023, 8 (08): : 4120 - 4130

← 1 2 3 4 5 →