H∞ consensus tracking of recovery system for multiple unmanned underwater vehicles with switching networks and disturbances

Abstract

This study focused on the H∞ consensus tracking of the recovery system of multiple unmanned underwater vehicles (UUVs) with switching networks and disturbances. Considering the complexity of the marine environments, the information communication was described by a switching topology that obeys the Markov chain. A novel H∞ consensus protocol was proposed for the multi-UUV recovery system with switching communication topology and disturbances. By using the Lyapunov–Krasovskii functional and linear matrix inequality, the sufficient conditions for the multi-UUV recovery system to achieve stochastic H∞ consensus were deduced, and based on the above conditions, the controller gain was designed. Finally, three-dimensional simulations of the multi-UUV recovery systems were performed. The simulation results validated the feasibility of the H∞ control strategies.