Cooperative Pursuit Control for Multiple Underactuated Underwater Vehicles with Time Delay in Three-Dimensional Space

Abstract

SUMMARY In this paper, the k-valued logic control network is introduced to study the cooperative pursuit control problem of multiple underactuated underwater vehicles (UUVs) with time delay in three-dimensional space. The semi-tensor product of matrices is used to solve the complex calculation problem of the large dimension matrix. The influence of communication delay on multiple UUVs’ optimization and cooperative pursuit control is expressed in a matrix. Under the leadership of evader UUV, the control algorithm can ensure that all the pursuit UUVs reach the desired position. The stability of the closed loop system is proved.

Game Theory for Unmanned Vehicle Path Planning in the Marine Domain: State of the Art and New Possibilities

“…The control is realized by means of a mixed-value logic network, leveraging the semi-tensor product between matrices to cope with the huge amount of data that may be collected during the journey. This work inspired some advances, as reported in [64,80,81]. In particular, [64] is reviewed in Section 5.…”

Adaptive time-delay estimation and control of optimized Stewart robot

“…Time-delay control (TDC) is often an efficient way of tackling the issues listed above. The TDC scheme is widely utilized for significant applications, such as robot manipulators (Baek et al, 2021), underwater vehicles (Qi and Cai, 2021), and robots with flexibilities (Xu and Xu, 2022). Meanwhile, the use of time-delayed control commands will necessarily profit estimation errors, that is, time-delay estimation (TDE) errors, in practical control methodologies implementations.…”

FAT-based robust adaptive control of cooperative multiple manipulators without velocity measurement

“…For example, high speed and accuracy make industrial manipulators widely used in the production processes. With the advancement of technology and the need to increase the quality of products, cooperating robots, including arms, mobile robots, or UAVs, have become the center of attention [1][2][3][4]. Performing industrial tasks such as welding, transportation, painting, packaging, and assembly requires high maneuverability, so they cannot be done by a single robot and require the use of a team of robots.…”

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