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.
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页数：16
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