Robust time‐varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties
Summary This paper addresses the robust formation control problem for multiple autonomous underwater vehicles (AUVs) to achieve the desired formation trajectory and time‐varying formation pattern and to align the vehicle attitudes. The dynamics of each AUV system involves parameter variations, nonli...
Gespeichert in:
| Veröffentlicht in: | International journal of robust and nonlinear control 2019-06, Vol.29 (9), p.2712-2724 |
|---|---|
| Hauptverfasser: | , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 2724 |
|---|---|
| container_issue | 9 |
| container_start_page | 2712 |
| container_title | International journal of robust and nonlinear control |
| container_volume | 29 |
| creator | Liu, Hao Lyu, Yafei Lewis, Frank L. Wan, Yan |
| description | Summary
This paper addresses the robust formation control problem for multiple autonomous underwater vehicles (AUVs) to achieve the desired formation trajectory and time‐varying formation pattern and to align the vehicle attitudes. The dynamics of each AUV system involves parameter variations, nonlinear dynamics, and external disturbances. A robust distributed formation control protocol is developed based on the graph theory and the robust compensation theory. It is proven that the tracking errors of the global uncertain system can converge into a given neighborhood of the origin in a finite time. Simulation results substantiate the effectiveness of the developed formation control method for multiple AUVs subject to nonlinearities and uncertainties. |
| doi_str_mv | 10.1002/rnc.4517 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_journals_2207811785</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>2207811785</sourcerecordid><originalsourceid>FETCH-LOGICAL-c3307-fb9274ece92e7f0a91294bf0ce1c852e909a5a7174cbf63f6753dcd0e4dff9443</originalsourceid><addsrcrecordid>eNp1kM1KxDAUhYMoOI6Cj1Bw46ZjkqaTZimDfzAoDLouaXqjGdpkTNKR2fkIPqNPYuq4dXUv53z3XDgInRM8IxjTK2_VjJWEH6AJwULkhBbicNyZyCtBi2N0EsIa4-RRNkFx5ZohxCyaHr4_v7bS74x9zbTzvYzG2Uw5G73rRiXrhy6aTQfZYFvwHzKCz7bwZlQHIQtDswaVklxmne2MBelNNMmRtk0XCnyUxo7KKTrSsgtw9jen6OX25nlxny-f7h4W18tcFQXmuW4E5QwUCApcYykIFazRWAFRVUlBYCFLyQlnqtHzQs95WbSqxcBarQVjxRRd7HM33r0PEGK9doO36WVNKeYVIbwqE3W5p5R3IXjQ9cabPhVRE1yPndap03rsNKH5Hv0wHez-5erV4-KX_wGGmXyF</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2207811785</pqid></control><display><type>article</type><title>Robust time‐varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties</title><source>Wiley Online Library Journals Frontfile Complete</source><creator>Liu, Hao ; Lyu, Yafei ; Lewis, Frank L. ; Wan, Yan</creator><creatorcontrib>Liu, Hao ; Lyu, Yafei ; Lewis, Frank L. ; Wan, Yan</creatorcontrib><description>Summary
This paper addresses the robust formation control problem for multiple autonomous underwater vehicles (AUVs) to achieve the desired formation trajectory and time‐varying formation pattern and to align the vehicle attitudes. The dynamics of each AUV system involves parameter variations, nonlinear dynamics, and external disturbances. A robust distributed formation control protocol is developed based on the graph theory and the robust compensation theory. It is proven that the tracking errors of the global uncertain system can converge into a given neighborhood of the origin in a finite time. Simulation results substantiate the effectiveness of the developed formation control method for multiple AUVs subject to nonlinearities and uncertainties.</description><identifier>ISSN: 1049-8923</identifier><identifier>EISSN: 1099-1239</identifier><identifier>DOI: 10.1002/rnc.4517</identifier><language>eng</language><publisher>Bognor Regis: Wiley Subscription Services, Inc</publisher><subject>autonomous underwater vehicle ; Autonomous underwater vehicles ; Dynamical systems ; formation control ; Graph theory ; Nonlinear dynamics ; nonlinear system ; Robust control ; Tracking errors ; uncertain system ; Uncertainty ; Vehicles</subject><ispartof>International journal of robust and nonlinear control, 2019-06, Vol.29 (9), p.2712-2724</ispartof><rights>2019 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3307-fb9274ece92e7f0a91294bf0ce1c852e909a5a7174cbf63f6753dcd0e4dff9443</citedby><cites>FETCH-LOGICAL-c3307-fb9274ece92e7f0a91294bf0ce1c852e909a5a7174cbf63f6753dcd0e4dff9443</cites><orcidid>0000-0001-8365-8008</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frnc.4517$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frnc.4517$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,776,780,1411,27903,27904,45553,45554</link.rule.ids></links><search><creatorcontrib>Liu, Hao</creatorcontrib><creatorcontrib>Lyu, Yafei</creatorcontrib><creatorcontrib>Lewis, Frank L.</creatorcontrib><creatorcontrib>Wan, Yan</creatorcontrib><title>Robust time‐varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties</title><title>International journal of robust and nonlinear control</title><description>Summary
This paper addresses the robust formation control problem for multiple autonomous underwater vehicles (AUVs) to achieve the desired formation trajectory and time‐varying formation pattern and to align the vehicle attitudes. The dynamics of each AUV system involves parameter variations, nonlinear dynamics, and external disturbances. A robust distributed formation control protocol is developed based on the graph theory and the robust compensation theory. It is proven that the tracking errors of the global uncertain system can converge into a given neighborhood of the origin in a finite time. Simulation results substantiate the effectiveness of the developed formation control method for multiple AUVs subject to nonlinearities and uncertainties.</description><subject>autonomous underwater vehicle</subject><subject>Autonomous underwater vehicles</subject><subject>Dynamical systems</subject><subject>formation control</subject><subject>Graph theory</subject><subject>Nonlinear dynamics</subject><subject>nonlinear system</subject><subject>Robust control</subject><subject>Tracking errors</subject><subject>uncertain system</subject><subject>Uncertainty</subject><subject>Vehicles</subject><issn>1049-8923</issn><issn>1099-1239</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><recordid>eNp1kM1KxDAUhYMoOI6Cj1Bw46ZjkqaTZimDfzAoDLouaXqjGdpkTNKR2fkIPqNPYuq4dXUv53z3XDgInRM8IxjTK2_VjJWEH6AJwULkhBbicNyZyCtBi2N0EsIa4-RRNkFx5ZohxCyaHr4_v7bS74x9zbTzvYzG2Uw5G73rRiXrhy6aTQfZYFvwHzKCz7bwZlQHIQtDswaVklxmne2MBelNNMmRtk0XCnyUxo7KKTrSsgtw9jen6OX25nlxny-f7h4W18tcFQXmuW4E5QwUCApcYykIFazRWAFRVUlBYCFLyQlnqtHzQs95WbSqxcBarQVjxRRd7HM33r0PEGK9doO36WVNKeYVIbwqE3W5p5R3IXjQ9cabPhVRE1yPndap03rsNKH5Hv0wHez-5erV4-KX_wGGmXyF</recordid><startdate>20190601</startdate><enddate>20190601</enddate><creator>Liu, Hao</creator><creator>Lyu, Yafei</creator><creator>Lewis, Frank L.</creator><creator>Wan, Yan</creator><general>Wiley Subscription Services, Inc</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0001-8365-8008</orcidid></search><sort><creationdate>20190601</creationdate><title>Robust time‐varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties</title><author>Liu, Hao ; Lyu, Yafei ; Lewis, Frank L. ; Wan, Yan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3307-fb9274ece92e7f0a91294bf0ce1c852e909a5a7174cbf63f6753dcd0e4dff9443</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>autonomous underwater vehicle</topic><topic>Autonomous underwater vehicles</topic><topic>Dynamical systems</topic><topic>formation control</topic><topic>Graph theory</topic><topic>Nonlinear dynamics</topic><topic>nonlinear system</topic><topic>Robust control</topic><topic>Tracking errors</topic><topic>uncertain system</topic><topic>Uncertainty</topic><topic>Vehicles</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Liu, Hao</creatorcontrib><creatorcontrib>Lyu, Yafei</creatorcontrib><creatorcontrib>Lewis, Frank L.</creatorcontrib><creatorcontrib>Wan, Yan</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>International journal of robust and nonlinear control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Liu, Hao</au><au>Lyu, Yafei</au><au>Lewis, Frank L.</au><au>Wan, Yan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Robust time‐varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties</atitle><jtitle>International journal of robust and nonlinear control</jtitle><date>2019-06-01</date><risdate>2019</risdate><volume>29</volume><issue>9</issue><spage>2712</spage><epage>2724</epage><pages>2712-2724</pages><issn>1049-8923</issn><eissn>1099-1239</eissn><abstract>Summary
This paper addresses the robust formation control problem for multiple autonomous underwater vehicles (AUVs) to achieve the desired formation trajectory and time‐varying formation pattern and to align the vehicle attitudes. The dynamics of each AUV system involves parameter variations, nonlinear dynamics, and external disturbances. A robust distributed formation control protocol is developed based on the graph theory and the robust compensation theory. It is proven that the tracking errors of the global uncertain system can converge into a given neighborhood of the origin in a finite time. Simulation results substantiate the effectiveness of the developed formation control method for multiple AUVs subject to nonlinearities and uncertainties.</abstract><cop>Bognor Regis</cop><pub>Wiley Subscription Services, Inc</pub><doi>10.1002/rnc.4517</doi><tpages>1</tpages><orcidid>https://orcid.org/0000-0001-8365-8008</orcidid></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 1049-8923 |
| ispartof | International journal of robust and nonlinear control, 2019-06, Vol.29 (9), p.2712-2724 |
| issn | 1049-8923 1099-1239 |
| language | eng |
| recordid | cdi_proquest_journals_2207811785 |
| source | Wiley Online Library Journals Frontfile Complete |
| subjects | autonomous underwater vehicle Autonomous underwater vehicles Dynamical systems formation control Graph theory Nonlinear dynamics nonlinear system Robust control Tracking errors uncertain system Uncertainty Vehicles |
| title | Robust time‐varying formation control for multiple underwater vehicles subject to nonlinearities and uncertainties |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-23T01%3A11%3A05IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Robust%20time%E2%80%90varying%20formation%20control%20for%20multiple%20underwater%20vehicles%20subject%20to%20nonlinearities%20and%20uncertainties&rft.jtitle=International%20journal%20of%20robust%20and%20nonlinear%20control&rft.au=Liu,%20Hao&rft.date=2019-06-01&rft.volume=29&rft.issue=9&rft.spage=2712&rft.epage=2724&rft.pages=2712-2724&rft.issn=1049-8923&rft.eissn=1099-1239&rft_id=info:doi/10.1002/rnc.4517&rft_dat=%3Cproquest_cross%3E2207811785%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2207811785&rft_id=info:pmid/&rfr_iscdi=true |