Discrete-time coordinated control of leader-following multiple AUVs under switching topologies and communication delays

Yan, Zheping; Yang, Zewen; Yue, Lidong; Wang, Lu; Jia, Heming

doi:10.1016/j.oceaneng.2018.12.018

Cited by 70 publications

(22 citation statements)

References 25 publications

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“…On a parallel formation (shown in Figure 15), all AUVs are equipped with the same systems and sensors, to locate and navigate themselves precisely and to communicate with its neighbor AUVs. In a leader-follower scheme (shown in Figure 16), leader AUV is equipped with high-precision instruments meanwhile follower AUVs are equipped with low-precision equipment [128]. Communication is only required between the vehicle leader and its followers, there is no need for the followers to communicate with each other.…”

Section: Collaborative Navigationmentioning

confidence: 99%

“…Since there are problems with signals when multiple systems emit at the same time, co-localization of AUVs is mostly based on time synchronization. However, time synchronization methods have some shortcomings such as the need for AUVs to go to surface to In a leader-follower scheme (shown in Figure 16), leader AUV is equipped with high-precision instruments meanwhile follower AUVs are equipped with low-precision equipment [128]. Communication is only required between the vehicle leader and its followers, there is no need for the followers to communicate with each other.…”

Section: Collaborative Navigationmentioning

confidence: 99%

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Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

et al. 2020

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Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization of many tasks originally achieved with manned vehicles in underwater environments. Teams of AUVs designed to work within a common mission are opening the possibilities for new and more complex applications. In underwater environments, communication, localization, and navigation of AUVs are considered challenges due to the impossibility of relying on radio communications and global positioning systems. For a long time, acoustic systems have been the main approach for solving these challenges. However, they present their own shortcomings, which are more relevant for AUV teams. As a result, researchers have explored different alternatives. To summarize and analyze these alternatives, a review of the literature is presented in this paper. Finally, a summary of collaborative AUV teams and missions is also included, with the aim of analyzing their applicability, advantages, and limitations.

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Section: Collaborative Navigationmentioning

confidence: 99%

Section: Collaborative Navigationmentioning

confidence: 99%

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

et al. 2020

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“…The model of AUV is a nonlinear and coupling model, the feedback linear method can be used to translate the nonlinear model into the following linear model in [32]. The derivation process is as follows.…”

Section: B the Auv Modelmentioning

confidence: 99%

“…Reference [31] investigates the problem of output tracking control for a class of delayed switched linear systems via statedependent switching and dynamic output feedback control. Reference [32] proposes coordinated control protocols with or without time delay for the coordination control problem of multiple AUVs under switching communication topologies based on discrete information.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2019

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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.

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“…Another problem that we need to address is determining the formation protocol in coordinated trajectory tracking control problems; See [8], [9], [14]- [17]. Among all of the formation protocols, leader-follower is used widely because it is easy to understand and implement.…”

Section: Introduction a Aims And Motivationmentioning

confidence: 99%

Distributed Event-Triggered Adaptive Coordinated Trajectory Tracking Control of Multi-USVs Based on the Aggregate Tracking Error

Zhang

2021

IEEE Access

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Aiming to solving the nonlinear coordinated trajectory tracking control problem of multi-USVs under the influence of slowly changing and uncertain environmental disturbances, reducing energy consumption and ensuring tracking performance and stability, a distributed event-triggered adaptive coordinated trajectory tracking controller (DET-ACTTC) for multiple unmanned surface vessels (multi-USVs) is proposed based on the undirected communication topology. By introducing a virtual leader, a leaderfollower formation is used to generate the coordinated tracking errors. Based on the expected formation and states, the aggregate tracking errors are defined, and event-triggered measurement errors are constructed to design the event-triggered conditions. An adaptive term is used to compensate for external environment disturbances, and the DET-ACTTC is deduced for each USV in the group. The tracking errors of the eventtriggered coordinated trajectory tracking control (ETCTTC) system gradually converge to zero, and Zeno behavior is avoided. The theoretical results are verified by simulations.

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Discrete-time coordinated control of leader-following multiple AUVs under switching topologies and communication delays

Cited by 70 publications

References 25 publications

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

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

Distributed Event-Triggered Adaptive Coordinated Trajectory Tracking Control of Multi-USVs Based on the Aggregate Tracking Error

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