Distributed formation control of autonomous underwater vehicles with impulsive information exchanges and disturbances under fixed and switching topologies

Zhongliang Hu,Chao Ma,Lixian Zhang,Halme, A.

ISIE（2014）

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摘要

In this paper, the distributed formation problem of multiple autonomous underwater vehicles (AUVs) with impulsive information exchanges and disturbances is investigated. In the studied case, all the information exchanges among the AUVs are completed according to the admissible impulse time sequence, which is more practical in the weak underwater communication environment. By model transformation, sufficient conditions are derived to ensure that the desired formation of multiple AUVs can be achieved under both fixed and switching communication topologies. Finally, a numerical example is presented to verify the effectiveness of the theoretical results.

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关键词

autonomous underwater vehicles,distributed control,graph theory,multi-robot systems,robot dynamics,admissible impulse time sequence,distributed formation control,fixed-communication topologies,impulsive information disturbances,impulsive information exchange,model transformation,multiple auv,multiple autonomous underwater vehicles,sufficient conditions,switching-communication topologies,weak-underwater communication environment,autonomous underwater vehicle,fixed and switching topologies,formation control,topology,nickel,vectors,vehicle dynamics,switches

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