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Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances
Joint Authors
Wu, Yi
Liu, Yibo
Ren, Hongliang
Yan, Zheping
Du, Xue
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-26, 26 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-02-10
Country of Publication
Egypt
No. of Pages
26
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Yan, Zheping& Wu, Yi& Liu, Yibo& Ren, Hongliang& Du, Xue. 2020. Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances. Complexity،Vol. 2020, no. 2020, pp.1-26.
https://search.emarefa.net/detail/BIM-1142601
Modern Language Association (MLA)
Yan, Zheping…[et al.]. Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances. Complexity No. 2020 (2020), pp.1-26.
https://search.emarefa.net/detail/BIM-1142601
American Medical Association (AMA)
Yan, Zheping& Wu, Yi& Liu, Yibo& Ren, Hongliang& Du, Xue. Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances. Complexity. 2020. Vol. 2020, no. 2020, pp.1-26.
https://search.emarefa.net/detail/BIM-1142601
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1142601