Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints

Abstract

In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set is studied. Firstly, the problem of formation coordination control of multi-AUV system is transformed into the problem of formation consensus of multi-AUV system, and the consistent state of leaderless multi-AUV system formation was defined. Secondly, considering the existence of bounded communication delay and nonconvex control input constraints for multi-AUV system formation under weak communication conditions, a formation consistent constraint controller algorithm for discrete-time leaderless multi-AUV system with double independent communication topology is proposed by introducing constraint operators. By using the properties of graph theory, random matrix and SIA matrix, and selecting appropriate controller parameters, the multi-AUV system formation can reach the defined consensus state. Furthermore, the unbounded communication delay of multi-AUV system formation is studied. Finally, the simulation results show that the proposed controller constraint algorithm is effective.

Globally optimal cost control for distributed multi-AUV formation with time-varying communication delays and clock errors

“…α , Q is a positive definite (PD) symmetric matrix. This, together with H is Hurwitz proves that there must be a unique PD symmetric matrix F satisfying the following Lyapunov equation , Then by (15), the explicit expression (9) of global cost function (5) with respect to gain parameters is obtained. It can be seen from ( 9) that if (0) 0, (0) 0 , ii α , F is unique and all denominators in F are nonzero.…”

“…Theorem 1. For leader-follower AUV formation (3) with global cost function (5), if Assumption 1 holds, there must exist an optimal protocol in the form of ( 6) so that multiple AUVs can maintain the desired formation at the lowest cost. Moreover, the explicit expression of global cost ( 5) is as follows: (0) (0) .…”

“…Formation control refers to the control technology of how to form and maintain a certain geometric configuration to meet the requirements of platform performance and tactical tasks in the process of multiple AUVs performing a task [1] . AUV formation control methods can be classified into leader-follower strategy [2] , behavior-based method [3] , virtual structure strategy [4] , artificial potential field [4] , and graph-based method [5] . Most of these studies only focus on the stability and robustness of formation, without fully considering the cost of performing missions.…”

Hybrid Form of Differential Evolutionary and Gray Wolf Algorithm for Multi-AUV Task Allocation in Target Search

“…With the continuous development of Multi-AUV technology, the complex marine environment and variable mission requirements have posed new challenges to Multi-AUV systems [8,9]. When the Multi-AUV system carries out cooperative operation task planning, the problem of Multi-AUV task allocation should be solved firstly [10].…”

Multi-AUV Control Method Based on Inverse Optimal Control of Integrated Obstacle Avoidance Algorithm

“…A new consensus control protocol for formations was proposed. In [27] the problem of multi-AUV formation control under constraints such as bounded communication delays and nonconvex control inputs was studied. In [28] an improved event-triggering mechanism to coordinate the communication in heterogeneous AUVs was explored.…”