期刊
OCEAN ENGINEERING
卷 262, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2022.112240
关键词
Autonomous underwater vehicles; Dynamic switching topology; Distributed formation; Model predictive control
资金
- Science and Technology on Near-Surface Detection Laboratory [6142414211405]
- Natural Science Foundation of Heilongjiang Province [F2018009]
- Science and Technology on Underwater Information and Control Laboratory [614221801050717]
This paper investigates the formation control of AUVs under dynamic switching topology. A formation control system based on intermittent broadcast is established using 2-D Delaunay triangulation and Jaccard index, and a stable formation controller is designed using model predictive control algorithm. Numerical simulations demonstrate the effectiveness of the proposed scheme in connectivity preservation and formation generation.
Numerous existing autonomous underwater vehicles (AUVs) formation control works have focused on the pre -configured communication topology. However, the complex marine environment reveals the limitations and unreliability of the fix topology scheme. In this paper, the formation control of AUVs is investigated under dy-namic switching topology. In order to realize this objective, the 2-D Delaunay triangulation and Jaccard index are introduced. A formation control system based on intermittent broadcast, rather than the traditional distributed control system, is established based on a leader-follower strategy. During the process of formation moving, the input constraints, vehicle collision avoidance and input saturation needed to be noted. To this end, the model predictive control algorithm is employed to design the formation controller, and the stability of the formation control system is proved by the average residence time notion and Lyapunov stability. The numerical simulations are exhibited to illustrate the effectiveness of the proposed formation control schemes in connectivity preservation and formation generation.
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