A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System
文献类型：期刊论文
| 作者 | Linling Wang; Daqi Zhu; Wen Pang; Chaomin Luo |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:5页码:1304-1318 |
| ISSN号 | 2329-9266 |
| 关键词 | Autonomous underwater vehicle (AUV) event-triggered control fixed-time consensus formation obstacle avoidance improved artificial potential field and leader-follower strategy (IAPF-LF) |
| DOI | 10.1109/JAS.2023.123201 |
| 英文摘要 | In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy (IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy. The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/51563]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Linling Wang,Daqi Zhu,Wen Pang,et al. A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(5):1304-1318. |
| APA | Linling Wang,Daqi Zhu,Wen Pang,&Chaomin Luo.(2023).A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System.IEEE/CAA Journal of Automatica Sinica,10(5),1304-1318. |
| MLA | Linling Wang,et al."A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System".IEEE/CAA Journal of Automatica Sinica 10.5(2023):1304-1318. |
入库方式： OAI收割
来源：自动化研究所
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