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 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.