Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays
The consensus control of multiple AUVs recovery system is the key to complete the multi-AUV recovery mission. This paper proposes consensus control of multiple AUVs recovery system under switching communication topologies and time delays including input delay and communication delay. Consensus contr...
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doaj-c164da455ccf4bd98f98e2029e1c0ce02021-04-05T17:20:43ZengIEEEIEEE Access2169-35362019-01-01711996511998010.1109/ACCESS.2019.29351048796341Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time DelaysWei Zhang0Jia Zeng1https://orcid.org/0000-0001-8899-2419Zheping Yan2Shilin Wei3Jun Zhang4Zewen Yang5College of Automation, Harbin Engineering University, Harbin, ChinaCollege of Automation, Harbin Engineering University, Harbin, ChinaCollege of Automation, Harbin Engineering University, Harbin, ChinaCollege of Automation, Harbin Engineering University, Harbin, ChinaDepartment of Petroleum Engineering, Northeast Petroleum University, Daqing, ChinaCollege of Automation, Harbin Engineering University, Harbin, ChinaThe consensus control of multiple AUVs recovery system is the key to complete the multi-AUV recovery mission. This paper proposes consensus control of multiple AUVs recovery system under switching communication topologies and time delays including input delay and communication delay. Consensus control algorithm for a multi-AUV recovery system is assumed to guarantee all the members to reach a common motion state and desired point. The mothership is regarded as the point which all AUVs have to catch up with, the recovery problem of multiple AUVs can be seen as the consensus problem of multi-agents system. A randomly changing consensus stability criteria and stabilization conditions are derived by a suitable Lyapunov-Krasovskii functional for the Markovian switching recovery system with time delays, and then a consensus controller design method is derived. Finally, the correctness of the proposed method is proved by simulation experiments.https://ieeexplore.ieee.org/document/8796341/Consensus controlmultiple AUVsrecovery systemswitching topologiestime delays |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Wei Zhang Jia Zeng Zheping Yan Shilin Wei Jun Zhang Zewen Yang |
spellingShingle |
Wei Zhang Jia Zeng Zheping Yan Shilin Wei Jun Zhang Zewen Yang Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays IEEE Access Consensus control multiple AUVs recovery system switching topologies time delays |
author_facet |
Wei Zhang Jia Zeng Zheping Yan Shilin Wei Jun Zhang Zewen Yang |
author_sort |
Wei Zhang |
title |
Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays |
title_short |
Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays |
title_full |
Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays |
title_fullStr |
Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays |
title_full_unstemmed |
Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays |
title_sort |
consensus control of multiple auvs recovery system under switching topologies and time delays |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
The consensus control of multiple AUVs recovery system is the key to complete the multi-AUV recovery mission. This paper proposes consensus control of multiple AUVs recovery system under switching communication topologies and time delays including input delay and communication delay. Consensus control algorithm for a multi-AUV recovery system is assumed to guarantee all the members to reach a common motion state and desired point. The mothership is regarded as the point which all AUVs have to catch up with, the recovery problem of multiple AUVs can be seen as the consensus problem of multi-agents system. A randomly changing consensus stability criteria and stabilization conditions are derived by a suitable Lyapunov-Krasovskii functional for the Markovian switching recovery system with time delays, and then a consensus controller design method is derived. Finally, the correctness of the proposed method is proved by simulation experiments. |
topic |
Consensus control multiple AUVs recovery system switching topologies time delays |
url |
https://ieeexplore.ieee.org/document/8796341/ |
work_keys_str_mv |
AT weizhang consensuscontrolofmultipleauvsrecoverysystemunderswitchingtopologiesandtimedelays AT jiazeng consensuscontrolofmultipleauvsrecoverysystemunderswitchingtopologiesandtimedelays AT zhepingyan consensuscontrolofmultipleauvsrecoverysystemunderswitchingtopologiesandtimedelays AT shilinwei consensuscontrolofmultipleauvsrecoverysystemunderswitchingtopologiesandtimedelays AT junzhang consensuscontrolofmultipleauvsrecoverysystemunderswitchingtopologiesandtimedelays AT zewenyang consensuscontrolofmultipleauvsrecoverysystemunderswitchingtopologiesandtimedelays |
_version_ |
1721539838019108864 |