Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays

被引：25

作者：

Zhang, Wei ^{[1
]}

Zeng, Jia ^{[1
]}

Yan, Zheping ^{[1
]}

Wei, Shilin ^{[1
]}

Zhang, Jun ^{[2
]}

Yang, Zewen ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang, Peoples R China

[2] Northeast Petr Univ, Dept Petr Engn, Daqing 163318, Peoples R China

来源：

IEEE ACCESS | 2019年 / 7卷

基金：

黑龙江省自然科学基金; 中国国家自然科学基金; 中央高校基本科研业务费专项资金资助;

关键词：

Consensus control; multiple AUVs; recovery system; switching topologies; time delays; LEADER-FOLLOWING CONSENSUS; MULTIAGENT SYSTEMS; COMMUNICATION; STABILITY; VEHICLES; STABILIZATION; NETWORKS; AGENTS;

D O I：

10.1109/ACCESS.2019.2935104

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The consensus control of multiple AUVs recovery system is the key to complete the multi-AUV recovery mission. This paper proposes consensus control of multiple AUVs recovery system under switching communication topologies and time delays including input delay and communication delay. Consensus control algorithm for a multi-AUV recovery system is assumed to guarantee all the members to reach a common motion state and desired point. The mothership is regarded as the point which all AUVs have to catch up with, the recovery problem of multiple AUVs can be seen as the consensus problem of multi-agents system. A randomly changing consensus stability criteria and stabilization conditions are derived by a suitable Lyapunov-Krasovskii functional for the Markovian switching recovery system with time delays, and then a consensus controller design method is derived. Finally, the correctness of the proposed method is proved by simulation experiments.

引用

页码：119965 / 119980

页数：16

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