Abstract
In this study, a finite-time consensus tracking problem is investigated for a group of autonomous underwater vehicles (AUVs) with heterogeneous uncertain dynamics. We firstly propose a two-layer distributed control strategy, which consists of an upper-layer distributed observer and a lower-layer controller, without using any global information. Based on Hölder’s inequality and the theory of finite-time stability, a distributed finite-time observer is developed for each follower to estimate the position information of a leader (i.e., an exosystem). Based on the sliding mode control method, a consensus tracking control scheme is designed for each AUV, by which all follower AUVs can track the leader in finite time. Secondly, when the parameters in the AUV dynamics are uncertain, a parameter-adaptive sliding mode control algorithm is introduced to improve the control performance. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control algorithms.
Highlights
In recent years distributed coordinate control of multiple autonomous underwater vehicles (AUVs) has attracted significant attention
The distributed coordinate control of multiple AUVs requires that the control protocol for each AUV only uses local information to realize an overall goal
An adaptive control law based on sliding mode control method was designed
Summary
In recent years distributed coordinate control of multiple autonomous underwater vehicles (AUVs) has attracted significant attention. When the AUV systems suffered from ocean disturbances and uncertain parameters, Wang et al [22] proposed an adaptive robust sliding-mode control scheme based on a neural network, dynamic surface, and backstepping technique. Yang et al [21] proposed a robust differentiator to estimate the external disturbances and uncertain parts in the linearly parameterized AUV model and developed a finite-time controller based on the non-singular fast terminal sliding-mode control. Ali et al [24] proposed a finite-time nonsingular fast terminal sliding mode control method based on the extended state observer to address the trajectory tracking control problem of an AUV subject to external disturbances and various hydrodynamic uncertainties.
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