Finite-time coordinated formation control of discrete-time multi-AUV with input saturation under alterable weighted topology and time-varying delay

Zeng, Zhenfang; Yu, Haomiao; Chen, Guo; Yan, Zheping

doi:10.1016/j.oceaneng.2022.112881

Cited by 10 publications

(3 citation statements)

References 58 publications

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“…Considering that the variable-weighted network topology of multi-AUV systems has time-varying communication delay, Zeng et al studied the finite-time coordinated formation control problem of discrete multi-AUV systems by using the virtual structure method. 95 The above control strategy can solve the cooperative control problem under various constraints. However, it should be noted that almost all of these control strategies are designed based on a definite AUV system model.…”

Section: 52mentioning

confidence: 99%

“…Unfortunately, real‐time communication is difficult to achieve in a practical application environment. Considering that the variable‐weighted network topology of multi‐AUV systems has time‐varying communication delay, Zeng et al studied the finite‐time coordinated formation control problem of discrete multi‐AUV systems by using the virtual structure method 95 …”

Section: Coordination Control Of Multi‐auv Systemsmentioning

confidence: 99%

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Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

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SummaryCoordination control of multiple autonomous underwater vehicles (AUVs) has attracted considerable attention owing to its widespread applications in deep‐sea exploration, marine environment monitoring, regional searches, and detector recovery. In addition, finite‐time control theory is applied to ensure that the system achieves its control goal as soon as possible. To the authors' knowledge, few studies have systematically summarized the finite‐time coordination control of multiple AUV systems. Thus this review aims to systematically and completely introduce the research progress into the coordination control methods for multi‐AUV systems and their combination with finite‐time theory. The primary areas of focus are the research significance, present state, and prospects of coordination control and finite‐time control theory in multiple AUV systems, as well as their applications.

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Section: 52mentioning

confidence: 99%

Section: Coordination Control Of Multi‐auv Systemsmentioning

confidence: 99%

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

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“… Yan et al (2022b) studies the trajectory tracking controllers under the leader-follower and virtual leader structures respectively in discrete systems under weak communication conditions and discusses their convergence. The literature Zeng et al (2022) provides a finite-time discrete coordinated formation controller for the multi-AUV systems which have input saturation constraints, time-varying communication delays, and variable weighted topologies. Besides, an increasing number of studies are on the multi-robot system with on-board vision feedback.…”

Section: Introductionmentioning

confidence: 99%

Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication

Wang

Zhang²,

Zheng

et al. 2023

PeerJ Computer Science

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Formation building for multi-small-AUV systems with on-board cameras is crucial under the limited communication underwater environment. A hybrid coordination strategy is proposed for the rapid convergence to a leader-follower pattern. The strategy consists of two parts: a time-optimal local-position-based controller (TOLC) and a distributed asynchronous discrete weighted consensus controller (ADWCC). The TOLC controller is designed to optimize the assignation of AUVs’ destinations in the given pattern and guide each AUV to its destination by the shortest feasible distance. The ADWCC controller is developed to direct the AUVs blocked by obstacles to reach their destinations with the information from the perceived neighbors by on-board cameras. The rapidity of the proposed strategy is theoretically discussed. The effectiveness of the proposed algorithm has been verified in the simulation environments in both MATLAB and Blender.

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Formation control of discrete-time nonlinear multi-glider systems for both leader–follower and no-leader scenarios under switching topology: Cases for a fleet consisting of a wave glider and multiple underwater gliders

Wang

et al. 2023

Ocean Engineering

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Finite-time coordinated formation control of discrete-time multi-AUV with input saturation under alterable weighted topology and time-varying delay

Cited by 10 publications

References 58 publications

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication

Formation control of discrete-time nonlinear multi-glider systems for both leader–follower and no-leader scenarios under switching topology: Cases for a fleet consisting of a wave glider and multiple underwater gliders

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