Finite-time consensus and collision avoidance control algorithms for multiple AUVs
Finite-time consensus and collision avoidance control algorithms for multiple AUVs
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DOI：
10.1016/j.automatica.2013.08.003
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发表时间：
2013-11-01
期刊：
影响因子：
6.4
通讯作者：
Wang, Xiangyu
中科院分区：
文献类型：
--
作者：
Li, Shihua;Wang, Xiangyu
本文研究了多 AUV（自主水下航行器）系统的有限时间位置一致性和避碰问题。首先，基于齐次控制方法，在不考虑AUV之间碰撞的情况下，针对无领导者和领导跟随者多AUV系统提出了有限时间位置一致性算法。具体来说，在领导者跟随者的情况下，为跟随者开发了一种新颖的分布式有限时间观察器来估计领导者的速度。其次，通过构造碰撞避免和连通性维护函数，针对这两种情况的多AUV系统提出了包含相应梯度项的修改共识算法，保证了碰撞避免、连通性维护、速度匹配和共识有界性。仿真证明了所提出的控制算法的有效性。 (C) 2013 Elsevier Ltd. 保留所有权利。
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. (C) 2013 Elsevier Ltd. All rights reserved.