Affiliation:
1. National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150006, China
Abstract
This paper is concerned with the consensus of a system involving multiple underactuated autonomous underwater vehicles (AUVs). Combined with a dynamic event-triggered mechanism and a fixed-time stability theorem, the backstepping average consensus controllers are designed. Firstly, the new consensus control objective on the system for multiple underactuated AUVs in a body frame (BF) spherical coordinate system is proposed, and the tracking error kinematic equations are established based on the kinematic characteristics of the underactuated AUV. The fixed-time consensus controller is designed by the backstepping method, and the average consensus theorem is proposed to improve the Lyapunov function. Furthermore, the dynamic event-triggered mechanism is adopted to reduce the communication requirements and energy consumption. This is the first solution to the problem of a consensus controller design for a system of multiple underactuated AUVs. Finally, numerical simulation results demonstrate that the proposed method has superior effectiveness over alternatives.
Funder
National Natural Science Foundation of China
Subject
Ocean Engineering,Water Science and Technology,Civil and Structural Engineering
Cited by
2 articles.
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