Leader-following coordination of multiple UUVs formation under two independent topologies and time-varying delays

来源期刊:中南大学学报(英文版)2017年第2期

论文作者:刘一博 严浙平 于长斌 周佳加

文章页码:382 - 393

Key words:multiple unmanned underwater vehicles formation; consensus algorithm; Lyapunov-Razumikhin theory; time-varying delay; state feedback linearization method

Abstract: The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles (multi-UUVs) formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumikhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.

Cite this article as: YAN Zhe-ping, LIU Yi-bo, YU Chang-bin, Zhou Jia-jia. Leader-following coordination of multiple UUVs formation under two independent topologies and time-varying delays [J]. Journal of Central South University, 2017, 24(2): 382-393. DOI: 10.1007/s11171-017-3440-5.

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