Consensus formation tracking control of multiple autonomous underwater vehicle systems

Yin Tao Wang, Wei Sheng Yan

科研成果: 期刊稿件文章同行评审

17 引用 (Scopus)

摘要

This paper investigates the problem of steering a group of autonomous underwater vehicles along specified paths while keeping a desired spatial formation. Based on passivity and consensus tracking theories, a distributed control strategy was derived, by which the consensus formation tracking problems for a group of autonomous underwater vehicles can be accomplished, when the common reference velocity signal is available to only a subset of the cooperating vehicles. The proposed control strategy can be divided into two parts. Firstly, a passivity channel from coordinated error to tracking error is established based on the passivity theory. Secondly, a coordinated consensus tracking strategy is derived to ensure each AUV for reaching a consistent state about the inconsistent reference information. The stability of the overall closed-loop system is analyzed mathematically by adopting Nested Matrosov theorem. Simulation results are presented and discussed for validating the proposed controller.

源语言英语
页(从-至)379-384
页数6
期刊Kongzhi Lilun Yu Yingyong/Control Theory and Applications
30
3
DOI
出版状态已出版 - 3月 2013

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