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 Chin. Phys. B, 2017, Vol. 26(4): 040203    DOI: 10.1088/1674-1056/26/4/040203
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# 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
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.
Keywords:  multiple autonomous underwater vehicles      consensus control      Markovian switching topology      time-varying delay
Received:  19 November 2016      Revised:  19 January 2017      Accepted manuscript online:
 PACS: 02.30.Yy (Control theory) 05.10.-a (Computational methods in statistical physics and nonlinear dynamics) 05.65.+b (Self-organized systems)
Fund: 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).
Corresponding Authors:  Yi-Bo Liu     E-mail:  liuyibo8888@126.com