scholarly journals Limited Communication Consensus Control of Leader-Following Multi-UUVs in a Swarm System Under Multi-Independent Switching Topologies and Time Delay

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 33183-33200 ◽  
Author(s):  
Zheping Yan ◽  
Yi Wu ◽  
Xue Du ◽  
Jiyun Li
Keyword(s):  
Time Delay ◽  
Consensus Control ◽  
Limited Communication ◽  
Switching Topologies ◽  
Leader Following

scholarly journals Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-26
Author(s):  
Zheping Yan ◽  
Yi Wu ◽  
Yibo Liu ◽  
Hongliang Ren ◽  
Xue Du
Keyword(s):  
Feedback Linearization ◽  
External Disturbance ◽  
Underwater Vehicles ◽  
Consensus Control ◽  
Position Information ◽  
State Information ◽  
Unmanned Underwater Vehicles ◽  
Switching Topologies ◽  
Leader Following ◽  
Time Invariant

We propose a consensus control strategy for multiple unmanned underwater vehicles (multi-UUVs) with unmeasurable disturbances under the fixed and switching topologies. The current methods presented in the literature mainly solve tracking consensus problems with the disturbances under the time-invariant and time-varying topologies, respectively. In the paper, considering the complex nonlinear and couple model of the UUV, the technique of the feedback linearization is employed to transform the nonlinear UUV model into a second-order integral UUV model. For unmeasurable disturbances consisting of unknown model uncertainties and external disturbance for each UUV, we design the distributed extended state observer (DESO) to estimate the disturbances using the UUV position information relative to its neighbours. Moreover, leader-following multi-UUVs consensus control algorithm that enables all following UUVs to track the leader UUV state information based on the estimation state information from the DESO is proposed for two types of topologies, the fixed and switching topologies. Finally, simulation results are shown to demonstrate the effectiveness of the algorithm proposed in the paper.

scholarly journals Distributed Finite-Time Consensus Control of Second-Order Multiagent Systems Subject to Communication Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Lingling Fan ◽  
Chengyan Wu
Keyword(s):  
Time Delay ◽  
Finite Time ◽  
Second Order ◽  
Consensus Method ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Time Control ◽  
Control Scheme ◽  
Communication Time ◽  
Leader Following

This paper studies the consensus problem of a second-order multiagent system (MAS) with fixed communication delay under the structure of leaderless and leader-following systems. By using graph theory and finite-time control scheme, a distributed control protocol is proposed for each agent to reach consensus in a finite time. In practical application, the time delay of states is unavoidable, and for this, the consensus method is supposed to be extended to solve the time-delay problem. Thus, a finite-time consensus protocol with communication time delay is proposed in this paper. Compared with the general consensus method, the reliability and convergence speed of the system are increased by using the finite-time control. In addition, the protocol is distributed, and all agents have only local interactions. Finally, the effectiveness of the proposed protocol is verified by two numerical simulations.

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