Distributed finite-time velocity-free robust formation control of multiple underactuated AUVs under switching directed topologies

Wang, Jingyao; Du, Jialu; Li, Jian

doi:10.1016/j.oceaneng.2022.112967

Cited by 11 publications

(3 citation statements)

References 37 publications

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“…In addition, when considering that the multiple underactuated AUV systems have switching directed communication topologies, uncertain dynamics, and unknown time-varying external disturbances, Wang et al proposed a distributed finite-time velocity-free robust formation control scheme. 97 It should be emphasized that the above control strategies are almost based on continuous communication. However, in practical application scenarios, limited by equipment, energy and environment, it is difficult for multiple AUV systems to communicate in real time.…”

Section: 52mentioning

confidence: 99%

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

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SummaryCoordination control of multiple autonomous underwater vehicles (AUVs) has attracted considerable attention owing to its widespread applications in deep‐sea exploration, marine environment monitoring, regional searches, and detector recovery. In addition, finite‐time control theory is applied to ensure that the system achieves its control goal as soon as possible. To the authors' knowledge, few studies have systematically summarized the finite‐time coordination control of multiple AUV systems. Thus this review aims to systematically and completely introduce the research progress into the coordination control methods for multi‐AUV systems and their combination with finite‐time theory. The primary areas of focus are the research significance, present state, and prospects of coordination control and finite‐time control theory in multiple AUV systems, as well as their applications.

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Section: 52mentioning

confidence: 99%

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

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“…It is feasible to ensure that U izP + g is constantly positive to avoid singularity because U izP is bounded by selecting a suitable gain constant Φ i , w i and K it Vi , Ϋi is in a certain range when calculating θ iC in (33).…”

Section: Remarkmentioning

confidence: 99%

“…To address these problems, a novel time-varying nonsingular terminal sliding mode (TVNTSM) manifold is adopted in this paper. To the best of our knowledge, the application of TVNTSM in formation control is still very scarce [31][32][33].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment

Zhao,

Zhu,

Qin

2023

Aerospace

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This paper investigates a practical time-varying formation control method for quadrotors subjected to disturbances, uncertainties, and switching-directed topologies. A fully distributed formation control scheme is proposed using a linear-velocity independent position controller (LVIPC) and a nonsingular terminal sliding mode attitude controller (NTSMAC). A distributed observer is adopted to eliminate the measurement of linear-velocity states, and only local neighbor states are needed to realize formation flight. A time-varying nonsingular terminal sliding mode manifold is designed to suppress the reaching phase and ensure the finite-time convergence. Adaptive estimators are employed to remove the reliance on the prior knowledge of the upper bound of lumped uncertainties. It is then proven that all the closed-loop signals are bounded under the proposed method. Comparative experimental results based on a practical outdoor hardware solution are presented to confirm the effectiveness of the suggested control algorithm.

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Prescribed‐time distributed direct estimation under relative state measurements

Ke,

Li,

Xie

2024

Intl J Robust & Nonlinear

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The distributed estimation technology is prevalently utilized to solve the leader‐following multi‐agent tracking problem. This technology poses a challenge in practice, since it generally relies on the available absolute state measurements. For this reason, a novel distributed estimation approach based on relative state measurements is developed in this article. The proposed method directly estimates the tracking error between the leader and each follower, rather than using an existing indirect way of estimating and making subtraction under absolute state measurements. Specifically, a distributed directed estimation is first studied to complete estimation tasks within prescribed time under the known directed networks. Then, a fully distributed directed estimation problem is considered under the unknown directed networks. Both distributed and fully distributed results are extended to the robustness cases to resist external disturbances. Simulation examples, including numerical examples and a multiship coordination example, are provided to demonstrate the effectiveness and advantages of the proposed distributed estimation method.

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Distributed finite-time velocity-free robust formation control of multiple underactuated AUVs under switching directed topologies

Cited by 11 publications

References 37 publications

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment

Prescribed‐time distributed direct estimation under relative state measurements

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