Formation path-following of multiple underwater vehicles based on fault tolerant control and port-controlled hamiltonian systems

Authors

Abstract

This paper addresses the path-following formation keeping of a network of multiple autonomous underwater vehicles (AUVs) under unknown and possible time-varying disturbances, while achieving the fault tolerant control. We formulate this problem as the Port-controlled Hamiltonian form, and a feedback control is introduced to symmetrize the non-symmetric part of the inertia matrix caused by the forward speed. And fault tolerant is necessary to be considered due to the fact communication faults occur in the complex ocean environment. In the presence of time-varying disturbances, the internal model is applied to tackle the uncertainties. The passivity enables the closed-loop systems to converge to steady states. Numerical simulation results are given to illustrate the effectiveness of the approach.

Citation

Journal: 2018 Chinese Control And Decision Conference (CCDC)
Year: 2018
Volume:
Issue:
Pages: 974–979
Publisher: IEEE
DOI: 10.1109/ccdc.2018.8407271

BibTeX

@inproceedings{Zhang_2018,
  title={{Formation path-following of multiple underwater vehicles based on fault tolerant control and port-controlled hamiltonian systems}},
  DOI={10.1109/ccdc.2018.8407271},
  booktitle={{2018 Chinese Control And Decision Conference (CCDC)}},
  publisher={IEEE},
  author={Zhang, Pengfei and Yang, Tingting},
  year={2018},
  pages={974--979}
}

Download the bib file

References

Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001) – 10.1109/37.915398
Fossen, T. I., Lindegaard, K.-P. & Skjetne, R. INERTIA SHAPING TECHNIQUES FOR MARINE VESSELS USING ACCELERATION FEEDBACK. IFAC Proceedings Volumes 35, 343–348 (2002) – 10.3182/20020721-6-es-1901.01282
Valentinis, F., Donaire, A. & Perez, T. Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory. Control Engineering Practice 44, 138–156 (2015) – 10.1016/j.conengprac.2015.07.010
Valentinis, F., Donaire, A. & Perez, T. Energy-based motion control of a slender hull unmanned underwater vehicle. Ocean Engineering 104, 604–616 (2015) – 10.1016/j.oceaneng.2015.05.014
Donaire, A. & Perez, T. Dynamic positioning of marine craft using a port-Hamiltonian framework. Automatica 48, 851–856 (2012) – 10.1016/j.automatica.2012.02.022
ren, Consensus algorithms for double-integrator dynamics, Distributed Consensus in Multivehicle Cooperative Control. Theory and Applications (2008)
Vos, E., Scherpen, J. M. A., Schaft, A. J. van der & Postma, A. Formation Control of Wheeled Robots in the Port-Hamiltonian Framework. IFAC Proceedings Volumes 47, 6662–6667 (2014) – 10.3182/20140824-6-za-1003.00394
knorn, Passivity-based control for multi-vehicle systems subject to string constraints Automatica (2014)
Wei, J. & van der Schaft, A. J. Load balancing of dynamical distribution networks with flow constraints and unknown in/outflows. Systems & Control Letters 62, 1001–1008 (2013) – 10.1016/j.sysconle.2013.08.001
Wenwu Yu, Guanrong Chen, Ming Cao & Kurths, J. Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics. IEEE Trans. Syst., Man, Cybern. B 40, 881–891 (2010) – 10.1109/tsmcb.2009.2031624
Andreasson, M., Dimarogonas, D. V., Sandberg, H. & Johansson, K. H. Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus. IEEE Trans. Automat. Contr. 59, 1750–1764 (2014) – 10.1109/tac.2014.2309281
Yintao Wang, Weisheng Yan & Wei Yan. A leader-follower formation control strategy for AUVs based on line-of-sight guidance. 2009 International Conference on Mechatronics and Automation 4863–4867 (2009) doi:10.1109/icma.2009.5246389 – 10.1109/icma.2009.5246389
Chen, S. & Ho, D. W. C. Consensus control for multiple AUVs under imperfect information caused by communication faults. Information Sciences 370–371, 565–577 (2016) – 10.1016/j.ins.2016.04.037
he, Leader-Following Consensus of Nonlinear Multiagent Systems With Stochastic Sampling (2016)