Abstract
Formation control of autonomous underwater vehicles is investigated. A finite-time consensus algorithm for second-order system is proposed, the consensus on velocities of AUV (linear velocity and angular velocity) and positions (displacement and attitude) are carried out with the finite-time consensus. Because of the limited communication range, the communication ranges of AUVs are predefined, so the AUVs system is modeled as a networked system with variable communication topologies. We demonstrate the formation control of multiple AUVs with different communication ranges, which show that the finite-time consensus on positions and velocities is obtained. Finally, we demonstrate the formation control of multiple AUVs with constraints on maximum velocity. Simulation results verify the effectiveness of the proposed control algorithms.
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Acknowledgments
This work is supported by the Natural Science Foundation of Shandong Province with grant number ZR2012FL18, the International Science and Technology Cooperation Project with grant number 2011DFR60810 and the Science and Technology Development Foundation of Shandong Academy of Sciences.
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Yuan, J., Zhou, ZH., Mu, H., Sun, YT., Li, L. (2013). Formation Control of Autonomous Underwater Vehicles Based on Finite-Time Consensus Algorithms. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 254. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38524-7_1
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DOI: https://doi.org/10.1007/978-3-642-38524-7_1
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