Finite-time extended state observer based collision-free leaderless formation control of multiple AUVs via event-triggered control

被引：37
作者：
Meng, Chuncheng [1 ]
Zhang, Wei [1 ]
Du, Xue [1 ,2 ]
机构：
[1] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin 150001, Peoples R China
[2] Frontiers Sci Ctr Wave Field Extreme Ocean Environ, Harbin 150001, Peoples R China
来源：
OCEAN ENGINEERING | 2023年 / 268卷
基金：
中国国家自然科学基金;
关键词：
FTESO; Multiple AUVs; Cross-coupling control; Collision avoidance; Event-triggered control; Formation control; SLIDING MODE CONTROL; AUTONOMOUS UNDERWATER VEHICLES; FOLLOWER FORMATION CONTROL; MARINE SURFACE VEHICLES; CONSENSUS; AVOIDANCE; SYSTEMS;
D O I：
10.1016/j.oceaneng.2022.113605
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
In terms of the non-singular terminal sliding mode control (SMC) method, this paper investigates a formation control problem for a swarm of autonomous underwater vehicles (AUVs) with nonlinear dynamic uncertainties and environmental disturbances. Based on the leaderless consensus framework, a distributed finite-time event -triggered formation control method is proposed for AUVs by considering collision avoidance. First, a novel finite -time extended state observer (FTESO) is proposed to estimate the system uncertainties of the multiple AUV systems. Then, based on the definition of cross-coupling control, a non-singular terminal sliding surface is constructed by a collection of position cross-coupling errors. It synchronizes the relative position errors of the multi-AUVs in finite-time specified trajectory tracking during simultaneous collision avoidance ability for multi-AUVs. Finally, the event-triggered control mechanism is designed for the formation controller to save commu-nication transmission resources. Then, the derived results are validated via comparative numerical simulations.
引用
收藏
页数：16
相关论文
共 44 条
[1]   Behavior-based formation control for multirobot teams [J].
Balch, T ;
Arkin, RC .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (06) :926-939
[2]   A coordination architecture for spacecraft formation control [J].
Beard, RW ;
Lawton, J ;
Hadaegh, FY .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2001, 9 (06) :777-790
[3]   Event-triggered sliding mode control for a class of nonlinear systems [J].
Behera, Abhisek K. ;
Bandyopadhyay, Bijnan .
INTERNATIONAL JOURNAL OF CONTROL, 2016, 89 (09) :1916-1931
[4]   Silent positioning in underwater acoustic sensor networks [J].
Cheng, Xiuzhen ;
Shu, Haining ;
Liang, Qilian ;
Du, David Hung-Chang .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2008, 57 (03) :1756-1766
[5]   Distributed attitude synchronization of formation flying via consensus-based virtual structure [J].
Cong, Bing-Long ;
Liu, Xiang-Dong ;
Chen, Zhen .
ACTA ASTRONAUTICA, 2011, 68 (11-12) :1973-1986
[6]   Extended state observer-based adaptive sliding mode control of differential-driving mobile robot with uncertainties [J].
Cui, Mingyue ;
Liu, Wei ;
Liu, Hongzhao ;
Jiang, Hualong ;
Wang, Zhipeng .
NONLINEAR DYNAMICS, 2016, 83 (1-2) :667-683
[7]   Leader-follower formation control of underactuated autonomous underwater vehicles [J].
Cui, Rongxin ;
Ge, Shuzhi Sam ;
How, Bernard Voon Ee ;
Choo, Yoo Sang .
OCEAN ENGINEERING, 2010, 37 (17-18) :1491-1502
[8]   Cooperative formation control of autonomous underwater vehicles: An overview [J].
Das B. ;
Subudhi B. ;
Pati B.B. .
International Journal of Automation and Computing, 2016, 13 (03) :199-225
[9]   A distributed passivity approach to AUV teams control in cooperating potential games [J].
Fabiani, Filippo ;
Fenucci, Davide ;
Caiti, Andrea .
OCEAN ENGINEERING, 2018, 157 :152-163
[10]  
Fossen T.I., 2011, HDB MARINE CRAFT HYD, DOI [DOI 10.1002/9781119994138, 10.1002/9781119994138]
12345