Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints
In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set is studied. Firstly, the problem of formation coordinat...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/11/1/107 |
| _version_ | 1797440369437179904 |
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| author | Zheping Yan Lidong Yue Jiajia Zhou Xiaoli Pan Chao Zhang |
| author_facet | Zheping Yan Lidong Yue Jiajia Zhou Xiaoli Pan Chao Zhang |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set is studied. Firstly, the problem of formation coordination control of multi-AUV system is transformed into the problem of formation consensus of multi-AUV system, and the consistent state of leaderless multi-AUV system formation was defined. Secondly, considering the existence of bounded communication delay and nonconvex control input constraints for multi-AUV system formation under weak communication conditions, a formation consistent constraint controller algorithm for discrete-time leaderless multi-AUV system with double independent communication topology is proposed by introducing constraint operators. By using the properties of graph theory, random matrix and SIA matrix, and selecting appropriate controller parameters, the multi-AUV system formation can reach the defined consensus state. Furthermore, the unbounded communication delay of multi-AUV system formation is studied. Finally, the simulation results show that the proposed controller constraint algorithm is effective. |
| first_indexed | 2024-03-09T12:07:10Z |
| format | Article |
| id | doaj.art-eaa248cebb204809b2a3e8d496737ca2 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T12:07:10Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-eaa248cebb204809b2a3e8d496737ca22023-11-30T22:57:16ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-01-0111110710.3390/jmse11010107Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input ConstraintsZheping Yan0Lidong Yue1Jiajia Zhou2Xiaoli Pan3Chao Zhang4College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaIn this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set is studied. Firstly, the problem of formation coordination control of multi-AUV system is transformed into the problem of formation consensus of multi-AUV system, and the consistent state of leaderless multi-AUV system formation was defined. Secondly, considering the existence of bounded communication delay and nonconvex control input constraints for multi-AUV system formation under weak communication conditions, a formation consistent constraint controller algorithm for discrete-time leaderless multi-AUV system with double independent communication topology is proposed by introducing constraint operators. By using the properties of graph theory, random matrix and SIA matrix, and selecting appropriate controller parameters, the multi-AUV system formation can reach the defined consensus state. Furthermore, the unbounded communication delay of multi-AUV system formation is studied. Finally, the simulation results show that the proposed controller constraint algorithm is effective.https://www.mdpi.com/2077-1312/11/1/107leaderless multi-AUVformation coordinated controldiscrete-timedouble independent communication topologynonconvex control input |
| spellingShingle | Zheping Yan Lidong Yue Jiajia Zhou Xiaoli Pan Chao Zhang Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints Journal of Marine Science and Engineering leaderless multi-AUV formation coordinated control discrete-time double independent communication topology nonconvex control input |
| title | Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints |
| title_full | Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints |
| title_fullStr | Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints |
| title_full_unstemmed | Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints |
| title_short | Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints |
| title_sort | formation coordination control of leaderless multi auv system with double independent communication topology and nonconvex control input constraints |
| topic | leaderless multi-AUV formation coordinated control discrete-time double independent communication topology nonconvex control input |
| url | https://www.mdpi.com/2077-1312/11/1/107 |
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