Abstract
A consistency control algorithm for AUV(Autonomous Underwater Vehicle) group combining with the leader-follower approach under communication delay is proposed. Firstly, the graph theory is used to describe the communication topology of AUV group. Specially, a hybrid communication topology is introduced to adapt to large formation control. Secondly, the distributed control law is constructed by combining consensus theory with leader-following method. Two consistency control algorithms for AUV group based on leader-follower approach with and without communication delay are proposed. Stability criteria are established to guarantee the consensus based on Gershgorin disk theorem and Nyquist law, respectively. Finally, the simulation experiment is carried out to show the effectiveness of the proposed algorithms.
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Guo, X., Chen, Y., Luo, G., Liu, G. (2022). A Formation Control Method of AUV Group Combining Consensus Theory and Leader-Follower Method Under Communication Delay. In: Pan, L., Cui, Z., Cai, J., Li, L. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2021. Communications in Computer and Information Science, vol 1566. Springer, Singapore. https://doi.org/10.1007/978-981-19-1253-5_12
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