Consensus protocol based attitudes coordination control for Underwater Glider formation

被引：5
作者：
Wen, Hao [1 ,2 ,4 ,5 ]
Zhou, Hexiong [2 ]
Fu, Jian [1 ,2 ,4 ,5 ]
Zhang, Xu [1 ,2 ,4 ,5 ]
Yao, Baoheng [1 ,2 ,3 ,4 ,5 ]
Lian, Lian [1 ,2 ]
机构：
[1] Shanghai Jiao Tong Univ, Sch Oceanog, Shanghai 200030, Peoples R China
[2] Shanghai Jiao Tong Univ, State Key Lab Ocean Engn, Shanghai 200240, Peoples R China
[3] Second Inst Oceanog, Hangzhou 310012, Peoples R China
[4] Shanghai Jiao Tong Univ, Inst Polar & Ocean Technol, Shanghai 200240, Peoples R China
[5] Shanghai Jiao Tong Univ, Inst Marine Equipment, Res Ctr Marine Intelligent Equipment & Robot, Shanghai 200240, Peoples R China
来源：
OCEAN ENGINEERING | 2022年 / 262卷
关键词：
Attitude coordination; UG formation; Feedback linearization; Consensus protocol; VEHICLES; RANGE;
D O I：
10.1016/j.oceaneng.2022.112307
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：
This study focuses on the control problem when the Underwater Glider(UG) formation discovers a valuable tracking target and intends to change the formation motion. A linearized dynamic model of UG formation is established, and the model can be utilized in other formation research as a basic framework. Furthermore, a third-order consensus protocol is designed for attitude coordination. Each UG follower can coordinate their attitudes according to the information of the formation members based on the framework and consensus protocol. The simulation results illustrate that the proposed method has a better performance compared with previous work. The main results of this research provide a basis for the engineering application of a UG formation.
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收藏
页数：13
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