Abstract
In this paper a new method that applied the consensus algorithm to solve the coordinate control problems of leaderless multi-UUVs formation with double independent Markovian switching communication topologies and same time-varying delays among the sensors is investigated. In order to reduce the capacity per data package transforming between the multi-UUVs formation, the communication topology is divided into two different switching parts which are used to transform the position and velocity information respectively. Then, the state feedback linearization is used to simplify and rewrite the nonlinear and coupled math model of the UUV into a double-integrator model. With the simplified model, coordinate control of the multi-UUVs can be regarded as approximating consensus problem with time-varying delays. With the help of Lyapunov-Krasovskii theorem, sufficient conditions of consensus control which can guarantee stability of the multi-UUVs formation are proposed and proven. Finally, the theoretical results are validated by simulation results.
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