Finite-time consensus and collision avoidance control algorithms for multiple AUVs |
| |
Authors: | Shihua Li Xiangyu Wang |
| |
Affiliation: | School of Automation, Southeast University, Nanjing 210096, PR China; Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, PR China |
| |
Abstract: | In this paper, finite-time position consensus and collision avoidance problems are investigated for multi-AUV (autonomous underwater vehicle) systems. First, based on the homogeneous control method, finite-time position consensus algorithms are proposed for both leaderless and leader–follower multi-AUV systems without considering collisions between the AUVs. Specifically, in the leader–follower case, a novel distributed finite-time observer is developed for the followers to estimate the leader’s velocity. Second, by constructing collision avoidance and connectivity maintenance functions, modified consensus algorithms containing corresponding gradient terms are presented for multi-AUV systems of both cases, which guarantee collision avoidance, connectivity maintenance, velocity matching, and consensus boundedness. Simulations demonstrate the effectiveness of the proposed control algorithms. |
| |
Keywords: | Finite-time control Consensus AUVs Leaderless Leader&ndash follower Collision avoidance |
本文献已被 ScienceDirect 等数据库收录! |
|