Finite-time consensus and collision avoidance control algorithms for multiple AUVs

被引:452
作者
Li, Shihua [1 ]
Wang, Xiangyu
机构
[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
基金
中国国家自然科学基金;
关键词
Finite-time control; Consensus; AUVs; Leaderless; Leader-follower; Collision avoidance; MULTIAGENT SYSTEMS; LEADER; STABILITY; TRACKING;
D O I
10.1016/j.automatica.2013.08.003
中图分类号
TP [自动化技术、计算机技术];
学科分类号
080201 [机械制造及其自动化];
摘要
In this paper, finite-time position consensus and collision avoidance problems are investigated for multi-AUV (autonomous underwater vehicle) systems. First, based on the homogeneous control method, finite-time position consensus algorithms are proposed for both leaderless and leader follower multi-AUV systems without considering collisions between the AUVs. Specifically, in the leader follower case, a novel distributed finite-time observer is developed for the followers to estimate the leader's velocity. Second, by constructing collision avoidance and connectivity maintenance functions, modified consensus algorithms containing corresponding gradient terms are presented for multi-AUV systems of both cases, which guarantee collision avoidance, connectivity maintenance, velocity matching, and consensus boundedness. Simulations demonstrate the effectiveness of the proposed control algorithms. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码:3359 / 3367
页数:9
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