Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances
We propose a consensus control strategy for multiple unmanned underwater vehicles (multi-UUVs) with unmeasurable disturbances under the fixed and switching topologies. The current methods presented in the literature mainly solve tracking consensus problems with the disturbances under the time-invari...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/5891459 |
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| author | Zheping Yan Yi Wu Yibo Liu Hongliang Ren Xue Du |
| author_facet | Zheping Yan Yi Wu Yibo Liu Hongliang Ren Xue Du |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | We propose a consensus control strategy for multiple unmanned underwater vehicles (multi-UUVs) with unmeasurable disturbances under the fixed and switching topologies. The current methods presented in the literature mainly solve tracking consensus problems with the disturbances under the time-invariant and time-varying topologies, respectively. In the paper, considering the complex nonlinear and couple model of the UUV, the technique of the feedback linearization is employed to transform the nonlinear UUV model into a second-order integral UUV model. For unmeasurable disturbances consisting of unknown model uncertainties and external disturbance for each UUV, we design the distributed extended state observer (DESO) to estimate the disturbances using the UUV position information relative to its neighbours. Moreover, leader-following multi-UUVs consensus control algorithm that enables all following UUVs to track the leader UUV state information based on the estimation state information from the DESO is proposed for two types of topologies, the fixed and switching topologies. Finally, simulation results are shown to demonstrate the effectiveness of the algorithm proposed in the paper. |
| format | Article |
| id | doaj-art-bd49f091081d43758804fa716ef77ce3 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-bd49f091081d43758804fa716ef77ce32025-02-03T01:01:32ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/58914595891459Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable DisturbancesZheping Yan0Yi Wu1Yibo Liu2Hongliang Ren3Xue Du4College of Automation, Harbin Engineering University, Harbin 150000, ChinaCollege of Automation, Harbin Engineering University, Harbin 150000, ChinaSystems Engineering Research Institute, Beijing 100000, ChinaDepartment of Biomedical Engineering, National University of Singapore, 119007, SingaporeCollege of Automation, Harbin Engineering University, Harbin 150000, ChinaWe propose a consensus control strategy for multiple unmanned underwater vehicles (multi-UUVs) with unmeasurable disturbances under the fixed and switching topologies. The current methods presented in the literature mainly solve tracking consensus problems with the disturbances under the time-invariant and time-varying topologies, respectively. In the paper, considering the complex nonlinear and couple model of the UUV, the technique of the feedback linearization is employed to transform the nonlinear UUV model into a second-order integral UUV model. For unmeasurable disturbances consisting of unknown model uncertainties and external disturbance for each UUV, we design the distributed extended state observer (DESO) to estimate the disturbances using the UUV position information relative to its neighbours. Moreover, leader-following multi-UUVs consensus control algorithm that enables all following UUVs to track the leader UUV state information based on the estimation state information from the DESO is proposed for two types of topologies, the fixed and switching topologies. Finally, simulation results are shown to demonstrate the effectiveness of the algorithm proposed in the paper.http://dx.doi.org/10.1155/2020/5891459 |
| spellingShingle | Zheping Yan Yi Wu Yibo Liu Hongliang Ren Xue Du Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances Complexity |
| title | Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances |
| title_full | Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances |
| title_fullStr | Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances |
| title_full_unstemmed | Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances |
| title_short | Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances |
| title_sort | leader following multiple unmanned underwater vehicles consensus control under the fixed and switching topologies with unmeasurable disturbances |
| url | http://dx.doi.org/10.1155/2020/5891459 |
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