Formation control of multiple underwater vehicles subject to communication faults and uncertainties

Authors

Tingting Yang, Shuanghe Yu, Yan Yan

Abstract

This paper proposes a novel approach to analyze and design the formation keeping control protocols for multiple underwater vehicles in the presence of communication faults and possible uncertainties. First, we formulate the considered vehicle model as the Port-controlled Hamiltonian form, and introduce the spring-damping system based formation control. Next, the dynamics of multiple underwater vehicles under uncertain relative information is reformulated as a network of Lur’e systems. Moreover, the agents under unknown disturbances generated by an external system are considered, where the internal model is applied to tackle the uncertainties, which still can be regulated as the Lur’e systems. In each case, the formation control is derived from solving LMI problems. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.

Keywords

auvs, fault tolerant, internal model, lur’s system, port-controlled hamiltonian systems

Citation

• Journal: Applied Ocean Research
• Year: 2019
• Volume: 82
• Issue:
• Pages: 109–116
• Publisher: Elsevier BV
• DOI: 10.1016/j.apor.2018.10.024

BibTeX

@article{Yang_2019,
  title={{Formation control of multiple underwater vehicles subject to communication faults and uncertainties}},
  volume={82},
  ISSN={0141-1187},
  DOI={10.1016/j.apor.2018.10.024},
  journal={Applied Ocean Research},
  publisher={Elsevier BV},
  author={Yang, Tingting and Yu, Shuanghe and Yan, Yan},
  year={2019},
  pages={109--116}
}

Download the bib file

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