A Novel Method of Time-Varying Formation Control Based on a Directed Graph for Multiple Autonomous Underwater Vehicles-Reference-Cited by-同舟云学术

A Novel Method of Time-Varying Formation Control Based on a Directed Graph for Multiple Autonomous Underwater Vehicles

Published:2024-07-22 Issue:14 Volume:14 Page:6377
ISSN:2076-3417
Container-title:Applied Sciences
language:en
Short-container-title:Applied Sciences

Author:

Shao Gang¹²³^ORCID,Wan Lei¹,Xu Huixi²³

Affiliation:

1. National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China

2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

3. Key Laboratory of Marine Robotics, Shenyang 110169, China

Abstract

Currently, autonomous underwater vehicles (AUVs) are facing various challenges, rendering multiple-AUV (multi-AUV) formation control a pivotal research direction. The issues surrounding formation control for a multi-AUV system to establish time-varying formations must be investigated. This paper discusses the formation protocol of multi-AUV systems in order to establish the defined time-varying formations. First, when these systems establish formations, the speed of each AUV can be equivalent. After that, consensus-based methods are used to solve the time-varying formation-control problem. The necessary and sufficient process of multi-AUV in achieving time-varying formations is proved. Furthermore, the formula for the time-varying formation center function is provided. Further, we present a protocol law for multi-AUVs to establish time-varying formations. Finally, the theoretical results of a simulation are presented, which validate the formation protocol.

Funder

National Key R&D Program of China

Natural Science Foundation of Liaoning Province, China

Publisher

MDPI AG

Link

https://www.mdpi.com/2076-3417/14/14/6377/pdf

Reference43 articles.

1. Decentralized cooperative-control design for multivehicle formations;Weitz;J. Guid. Control Dyn.,2008

2. Yang, S., Chen, J., and Liu, F. (2018, January 21–23). Observer-based consensus control of multi-agent systems with input delay. Proceedings of the 2018 IEEE 4th International Conference on Control Science and Systems Engineering (ICCSSE), Wuhan, China.

3. Cooperative formation control for multiple AUVs with intermittent underwater acoustic communication in IoUT;Cai;IEEE Internet Things J.,2023

4. Li, J., Zhang, H., Chen, T., and Wang, J. (2022). AUV formation coordination control based on transformed topology under time-varying delay and communication interruption. J. Mar. Sci. Eng., 10.

5. Okamoto, A., Kim, K., Sasano, M., Sato, T., Inaba, S., Kondo, S., Matsumoto, H., Murashima, T., Shimura, T., and Fujiwara, T. (2023, January 6–9). Development of a basic formation control system for heterogeneous autonomous marine vehicles and its sea trials in suruga bay. Proceedings of the 2023 IEEE Underwater Technology (UT), Tokyo, Japan.