Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays
This paper is concerned with the multi-UUVs formation control problem and proposes the control protocol with an additional function when considering environmental disturbances. Firstly, the leader-following configuration is adopted to discuss the consensus problem for multi-UUVs system, the leader&#...
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| Veröffentlicht in: | IEEE access 2019, Vol.7, p.118792-118805 |
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| creator | Yan, Zheping Pan, Xiaoli Yang, Zewen Yue, Lidong |
| description | This paper is concerned with the multi-UUVs formation control problem and proposes the control protocol with an additional function when considering environmental disturbances. Firstly, the leader-following configuration is adopted to discuss the consensus problem for multi-UUVs system, the leader's behavior directs the follower's motion trajectory and the follower UUVs could, in turn, communicate with each other, respectively. Secondly, three types of coordination control protocols are proposed: the control protocol is designed without additional function and time delay; the control protocol with additional function and without time delay; the control protocol with additional function and time-varying delay. Sufficient consensus conditions are analyzed and derived by using the Lyapunov-Krasovskii functional theory, algebraic graph theory and matrix theory. Finally, two simulation experiments are given to illustrate the effectiveness of the proposed formation control methods. |
| doi_str_mv | 10.1109/ACCESS.2019.2935067 |
| format | Article |
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Firstly, the leader-following configuration is adopted to discuss the consensus problem for multi-UUVs system, the leader's behavior directs the follower's motion trajectory and the follower UUVs could, in turn, communicate with each other, respectively. Secondly, three types of coordination control protocols are proposed: the control protocol is designed without additional function and time delay; the control protocol with additional function and without time delay; the control protocol with additional function and time-varying delay. Sufficient consensus conditions are analyzed and derived by using the Lyapunov-Krasovskii functional theory, algebraic graph theory and matrix theory. 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Firstly, the leader-following configuration is adopted to discuss the consensus problem for multi-UUVs system, the leader's behavior directs the follower's motion trajectory and the follower UUVs could, in turn, communicate with each other, respectively. Secondly, three types of coordination control protocols are proposed: the control protocol is designed without additional function and time delay; the control protocol with additional function and without time delay; the control protocol with additional function and time-varying delay. Sufficient consensus conditions are analyzed and derived by using the Lyapunov-Krasovskii functional theory, algebraic graph theory and matrix theory. Finally, two simulation experiments are given to illustrate the effectiveness of the proposed formation control methods.</description><subject>Control methods</subject><subject>Delay effects</subject><subject>Delays</subject><subject>Graph theory</subject><subject>leader-following consensus</subject><subject>Linear matrix inequalities</subject><subject>Mathematical model</subject><subject>Matrix theory</subject><subject>Multiple unmanned underwater vehicles</subject><subject>Oceans</subject><subject>Protocol</subject><subject>Protocols</subject><subject>Time lag</subject><subject>Time varying control</subject><subject>time-varying delays</subject><subject>uncertain factors</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUU1LJDEQbURBcf0FXgKee8x3p4_S67jCLHuYGT2G6nSiGXo6bpJB_PdmtkW2oD4o6r1X8KrqmuAFIbi9veu6-_V6QTFpF7RlAsvmpLqgRLY1E0ye_jefV1cp7XAJVVaiuaj0MsQ9ZB8m1IUpxzCi4NDKwmBjvQzjGN799IJ-H8bs6-32KaFnn1_RdjI2ZvATWoLJISYE04A2fm_rJ4gfR8hPO8JH-lGdORiTvfrql9V2eb_pftWrPw-P3d2qNlyoXDMwpheipQ0WbLCyHZSghPd9w4kYsMAYnJHG9YApSIBGSWu4tMwyo3jP2WX1OPMOAXb6Lfp9eUMH8PrfIsQXDTF7M1oNhjhlOAVOHTfAlXWy1KLpuOoNK1w3M9dbDH8PNmW9C4c4lfc15UJIJkuWKzZfmRhSitZ9qxKsj8bo2Rh9NEZ_GVNQ1zPKW2u_EapphcCUfQJ-CInK</recordid><startdate>2019</startdate><enddate>2019</enddate><creator>Yan, Zheping</creator><creator>Pan, Xiaoli</creator><creator>Yang, Zewen</creator><creator>Yue, Lidong</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Control methods Delay effects Delays Graph theory leader-following consensus Linear matrix inequalities Mathematical model Matrix theory Multiple unmanned underwater vehicles Oceans Protocol Protocols Time lag Time varying control time-varying delays uncertain factors |
| title | Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays |
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