Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost

Zhuo Zhang; Pei Chen; Huiping Li; Feihu Zhang

doi:10.1109/ISIE.2019.8781171

Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost

Zhuo Zhang, Pei Chen, Huiping Li, Feihu Zhang

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This article studies the distributed optimal control problem of multiple autonomous underwater vehicles (AUVs). The fuzzy approach is utilized to model the nonlinear dynamics of AUVs, and a distributed control protocol is presented to guarantee the consensus of multiple AUVs. Moreover, the optimization of cost function is achieved using the linear quadratic regulator (LQR) approach. A numerical example is reported to demonstrate the efficiency and improved performance of the presented protocol.

Original language	English
Title of host publication	Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1233-1238
Number of pages	6
ISBN (Electronic)	9781728136660
DOIs	https://doi.org/10.1109/ISIE.2019.8781171
State	Published - Jun 2019
Event	28th IEEE International Symposium on Industrial Electronics, ISIE 2019 - Vancouver, Canada Duration: 12 Jun 2019 → 14 Jun 2019

Publication series

Name	IEEE International Symposium on Industrial Electronics
Volume	2019-June

Conference

Conference	28th IEEE International Symposium on Industrial Electronics, ISIE 2019
Country/Territory	Canada
City	Vancouver
Period	12/06/19 → 14/06/19

Keywords

autonomous underwater vehicles (AUVs)
distributed control
fuzzy approach.
Optimal control

Access to Document

10.1109/ISIE.2019.8781171

Cite this

Zhang, Z., Chen, P., Li, H., & Zhang, F. (2019). Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost. In Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019 (pp. 1233-1238). Article 8781171 (IEEE International Symposium on Industrial Electronics; Vol. 2019-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2019.8781171

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title = "Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost",

abstract = "This article studies the distributed optimal control problem of multiple autonomous underwater vehicles (AUVs). The fuzzy approach is utilized to model the nonlinear dynamics of AUVs, and a distributed control protocol is presented to guarantee the consensus of multiple AUVs. Moreover, the optimization of cost function is achieved using the linear quadratic regulator (LQR) approach. A numerical example is reported to demonstrate the efficiency and improved performance of the presented protocol.",

keywords = "autonomous underwater vehicles (AUVs), distributed control, fuzzy approach., Optimal control",

author = "Zhuo Zhang and Pei Chen and Huiping Li and Feihu Zhang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 28th IEEE International Symposium on Industrial Electronics, ISIE 2019 ; Conference date: 12-06-2019 Through 14-06-2019",

year = "2019",

month = jun,

doi = "10.1109/ISIE.2019.8781171",

language = "英语",

series = "IEEE International Symposium on Industrial Electronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Zhang, Z, Chen, P, Li, H & Zhang, F 2019, Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost. in Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019., 8781171, IEEE International Symposium on Industrial Electronics, vol. 2019-June, Institute of Electrical and Electronics Engineers Inc., pp. 1233-1238, 28th IEEE International Symposium on Industrial Electronics, ISIE 2019, Vancouver, Canada, 12/06/19. https://doi.org/10.1109/ISIE.2019.8781171

Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost. / Zhang, Zhuo; Chen, Pei; Li, Huiping et al.
Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1233-1238 8781171 (IEEE International Symposium on Industrial Electronics; Vol. 2019-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This article studies the distributed optimal control problem of multiple autonomous underwater vehicles (AUVs). The fuzzy approach is utilized to model the nonlinear dynamics of AUVs, and a distributed control protocol is presented to guarantee the consensus of multiple AUVs. Moreover, the optimization of cost function is achieved using the linear quadratic regulator (LQR) approach. A numerical example is reported to demonstrate the efficiency and improved performance of the presented protocol.

AB - This article studies the distributed optimal control problem of multiple autonomous underwater vehicles (AUVs). The fuzzy approach is utilized to model the nonlinear dynamics of AUVs, and a distributed control protocol is presented to guarantee the consensus of multiple AUVs. Moreover, the optimization of cost function is achieved using the linear quadratic regulator (LQR) approach. A numerical example is reported to demonstrate the efficiency and improved performance of the presented protocol.

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KW - Optimal control

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 28th IEEE International Symposium on Industrial Electronics, ISIE 2019

Y2 - 12 June 2019 through 14 June 2019

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Zhang Z, Chen P, Li H, Zhang F. Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost. In Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1233-1238. 8781171. (IEEE International Symposium on Industrial Electronics). doi: 10.1109/ISIE.2019.8781171

Distributed Control of Multiple Autonomous Underwater Vehicles with Optimal Energy Cost

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