Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays

Abstract

The consensus control of multiple AUVs recovery system is the key to complete the multi-AUV recovery mission. This paper proposes consensus control of multiple AUVs recovery system under switching communication topologies and time delays including input delay and communication delay. Consensus control algorithm for a multi-AUV recovery system is assumed to guarantee all the members to reach a common motion state and desired point. The mothership is regarded as the point which all AUVs have to catch up with, the recovery problem of multiple AUVs can be seen as the consensus problem of multiagents system. A randomly changing consensus stability criteria and stabilization conditions are derived by a suitable Lyapunov-Krasovskii functional for the Markovian switching recovery system with time delays, and then a consensus controller design method is derived. Finally, the correctness of the proposed method is proved by simulation experiments. INDEX TERMS Consensus control, multiple AUVs, recovery system, switching topologies, time delays.

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

“…In order to cope with the situation that the communication topology may change, Zhang et al designed a consensus control protocol based on switching communication topology. 23 In view of the communication faults of the system, Chen et al investigated the state consensus control problem under the condition of incomplete neighbor information. 24 The designed distributed controller enables multiple AUV systems can reach a consensus when the neighbor information is incomplete.…”

“…It can be seen that the controller is designed based on fixed communication topology. In order to cope with the situation that the communication topology may change, Zhang et al designed a consensus control protocol based on switching communication topology 23 . In view of the communication faults of the system, Chen et al investigated the state consensus control problem under the condition of incomplete neighbor information 24 .…”

A Formation Control Method for AUV Group Under Communication Delay

“…Moreover, the formation control problem is of great interest in studying the AUV group. Various formation control approaches have been reported in the literature, such as the path-following approach ( Xinjing et al, 2017 ; Yu et al, 2017 ), the leader–follower approach ( Bechlioulis et al, 2019 ; Renjie et al, 2020 ; Wang et al, 2020 ; Heshmati-Alamdari et al, 2021 ; Zhang et al, 2021 ), the behavioral approach ( He et al, 2010 ; Chen et al, 2021 ), the virtual structure approach ( Zhang et al, 2016 ), and the consensus theory ( Zhang et al, 2019 ; Qin et al, 2020 ; Xia et al, 2021b ). The leader–follower method is widely used because of its simple structure and easy implementation, but it relies too much on the leader.…”