Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

doi:10.1088/1674-1056/26/4/040203

中国物理B ›› 2017, Vol. 26 ›› Issue (4): 40203-040203.doi: 10.1088/1674-1056/26/4/040203

Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

Zhe-Ping Yan(严浙平), Yi-Bo Liu(刘一博), Jia-Jia Zhou(周佳加), Wei Zhang(张伟), Lu Wang(王璐)

College of Automation, Harbin Engineering University, Harbin 150001, China

收稿日期:2016-11-19 修回日期:2017-01-19 出版日期:2017-04-05 发布日期:2017-04-05
通讯作者: Yi-Bo Liu E-mail:liuyibo8888@126.com
基金资助:
Project supported by the National Natural Science Foundation of China (Grant Nos. 51679057, 51309067, and 51609048), the Outstanding Youth Science Foundation of Heilongjiang Providence of China (Grant No. JC2016007), and the Natural Science Foundation of Heilongjiang Province, China (Grant No. E2016020).

Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

Zhe-Ping Yan(严浙平), Yi-Bo Liu(刘一博), Jia-Jia Zhou(周佳加), Wei Zhang(张伟), Lu Wang(王璐)

College of Automation, Harbin Engineering University, Harbin 150001, China

Received:2016-11-19 Revised:2017-01-19 Online:2017-04-05 Published:2017-04-05
Contact: Yi-Bo Liu E-mail:liuyibo8888@126.com
Supported by:
Project supported by the National Natural Science Foundation of China (Grant Nos. 51679057, 51309067, and 51609048), the Outstanding Youth Science Foundation of Heilongjiang Providence of China (Grant No. JC2016007), and the Natural Science Foundation of Heilongjiang Province, China (Grant No. E2016020).

摘要/Abstract

摘要： A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles (multi-AUVs) with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated. This is accomplished by first dividing the communication topology into two different switching parts, i.e., velocity and position, to reduce the data capacity per data package sent between the multi-AUVs in the ocean. Then, the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model. Consequently, coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies. Considering these factors, sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov-Krasovskii theorem. Finally, simulation results that validate the theoretical results are presented.

关键词: multiple autonomous underwater vehicles, consensus control, Markovian switching topology, time-varying delay

Abstract: A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles (multi-AUVs) with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated. This is accomplished by first dividing the communication topology into two different switching parts, i.e., velocity and position, to reduce the data capacity per data package sent between the multi-AUVs in the ocean. Then, the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model. Consequently, coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies. Considering these factors, sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov-Krasovskii theorem. Finally, simulation results that validate the theoretical results are presented.

Key words: multiple autonomous underwater vehicles, consensus control, Markovian switching topology, time-varying delay

中图分类号: (Control theory)

02.30.Yy

05.10.-a (Computational methods in statistical physics and nonlinear dynamics) 05.65.+b (Self-organized systems)

严浙平, 刘一博, 周佳加, 张伟, 王璐. Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays[J]. 中国物理B, 2017, 26(4): 40203-040203.

Zhe-Ping Yan(严浙平), Yi-Bo Liu(刘一博), Jia-Jia Zhou(周佳加), Wei Zhang(张伟), Lu Wang(王璐). Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays[J]. Chin. Phys. B, 2017, 26(4): 40203-040203.

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Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

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