Abstract
This article investigates the distributed synchronization problem of autonomous underwater vehicles by developing a novel synchronization protocol with memorized controller. More precisely, the memory information for information exchanges of autonomous underwater vehicles is utilized such that the synchronization performance can be improved. By employing the Lyapunov–Krasovskii functional method with model transformation, sufficient criteria are established for guaranteeing the synchronization, and the corresponding distributed synchronization controllers are designed based on matrix techniques. Finally, the effectiveness and benefits of our theoretical method are supported by an illustrative example with simulation results.
Highlights
During the past years, there have been thriving research towards the autonomous systems due to their various applications and perspectives in the real world, for example, unmanned aerial vehicles,[1,2] autonomous underwater vehicles (AUVs),[3,4,5,6] automated guided vehicles[7,8] and so on
It is emphasized that the collective behaviours of the coordinated autonomous systems have received tremendous attention, which are more complex but more effective than the single system
As one basic yet fundamental issue, a growing interest is arising into the synchronization problem, which means that all the single systems in the group can achieve certain agreement upon a common state.[11,12,13]
Summary
There have been thriving research towards the autonomous systems due to their various applications and perspectives in the real world, for example, unmanned aerial vehicles,[1,2] autonomous underwater vehicles (AUVs),[3,4,5,6] automated guided vehicles[7,8] and so on. Compared with the traditional continuous-time control schemes, the information transmission is accomplished with discrete-time feature by digital techniques This brings significant advantages including better control performance and robustness and is more applicable for the underwater communications.[23] As a result, various effective sampled-data control strategies have been adopted for AUVs.[19,24] On another research frontier, some burgeoning efforts have been devoted to the memorized controllers and have achieved encouraging results. With the sampling period T , the synchronization of the AUVs (1) can be achieved by the given synchronization gains with connected topology, if there exist positive matrices P, Q1, Q2, R1 and R2 such that the following LMIs hold
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