Cooperative Tracking Control of Multiple Autonomous Underwater Vehicles With Markovian Jumping Switching Topologies and Communication Delays

被引：0

作者：

Wang, Junyi ^{[1
,2
]}

Fan, Yufeng ^{[3
]}

Xu, Hongli ^{[1
]}

Xu, Chenglong ^{[4
]}

Qu, Qiuxia ^{[5
]}

机构：

[1] Northeastern Univ, Fac Robot Sci & Engn, Shenyang, Peoples R China

[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China

[3] Northeastern Univ, Coll Informat Sci & Engn, Shenyang, Peoples R China

[4] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin, Peoples R China

[5] Shenyang Jianzhu Univ, Sch Elect & Control Engn, Shenyang, Peoples R China

来源：

OPTIMAL CONTROL APPLICATIONS & METHODS | 2025年 / 46卷 / 04期

基金：

黑龙江省自然科学基金;

关键词：

cooperative tracking control; Lyapunov-Krasovskii functional; Markovian jumping switching topologies; multiple autonomous underwater vehicles; time-varying communication delay; MULTIAGENT SYSTEMS; CONSENSUS CONTROL;

D O I：

10.1002/oca.3272

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 cooperative tracking control of multiple autonomous underwater vehicles (multi-AUVs) under dynamic conditions, the cooperative tracking controllers are designed based on Markovian jumping switching topologies and mode-dependent time-varying communication delays. Firstly, the controllers that could achieve the position tracking of multi-AUVs are designed based on consensus theory and proportional derivative (PD) control method. Secondly, the sufficient conditions of error asymptotic stability of multi-AUVs are presented based on an appropriate Lyapunov-Krasovskii functional. The allowable upper bound of communication delay could be calculated based on linear matrix inequalities (LMIs). Finally, the simulation example is proposed to validate the effectiveness of the proposed methods.

引用

页码：1449 / 1458

页数：10

共 23 条

[1] A novel cooperative navigation algorithm based on factor graph with cycles for AUVs [J].

Ben, Yueyang ;

Sun, Yan ;

Li, Qian ;

Zang, Xinle .

OCEAN ENGINEERING, 2021, 241

[2] Bumpless-transfer-based fault tolerant control for the quadcopter: Piecewise homogeneous emission probability approach [J].

Cai, Bo ;

Pei, Dacheng .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2024, 34 (01) :341-358

[3] Successive Interference Cancellation for Underwater Acoustic Communications [J].

Cho, Steve E. ;

Song, Hee Chun ;

Hodgkiss, William S. .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2011, 36 (04) :490-501

[4] Leader-follower fixed-time consensus for multi-agent systems with unknown non-linear inherent dynamics [J].

Defoort, Michael ;

Polyakov, Andrey ;

Demesure, Guillaume ;

Djemai, Mohamed ;

Veluvolu, Kalyana .

IET CONTROL THEORY AND APPLICATIONS, 2015, 9 (14) :2165-2170

[5]

Fossen T.I., 1999, GUIDANCE CONTROL OCE

[6] Leader-following consensus of linear multi-agent systems via reset control: A time-varying systems approach [J].

Hu, Wenfeng ;

Cheng, Yi ;

Yang, Chunhua .

AUTOMATICA, 2023, 149

[7] Finite-time extended state observer based collision-free leaderless formation control of multiple AUVs via event-triggered control [J].

Meng, Chuncheng ;

Zhang, Wei ;

Du, Xue .

OCEAN ENGINEERING, 2023, 268

[8] Reciprocally convex approach to stability of systems with time-varying delays [J].

Park, PooGyeon ;

Ko, Jeong Wan ;

Jeong, Changki .

AUTOMATICA, 2011, 47 (01) :235-238

[9] Energy conservation and power bonds in co-simulations: non-iterative adaptive step size control and error estimation [J].

Sadjina, Severin ;

Kyllingstad, Lars T. ;

Skjong, Stian ;

Pedersen, Eilif .

ENGINEERING WITH COMPUTERS, 2017, 33 (03) :607-620

[10] Wirtinger-based integral inequality: Application to time-delay systems [J].

Seuret, A. ;

Gouaisbaut, F. .

AUTOMATICA, 2013, 49 (09) :2860-2866

← 1 2 3 →