Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances

Zheping Yan,Yibo Liu,Yi Wu,Xue Du,Hongliang Ren

doi:10.1155/2020/5891459

Zheping Yan, Yibo Liu + Show 3 more

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https://doi.org/10.1155/2020/5891459

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Abstract

We propose a consensus control strategy for multiple unmanned underwater vehicles (multi-UUVs) with unmeasurable disturbances under the fixed and switching topologies. The current methods presented in the literature mainly solve tracking consensus problems with the disturbances under the time-invariant and time-varying topologies, respectively. In the paper, considering the complex nonlinear and couple model of the UUV, the technique of the feedback linearization is employed to transform the nonlinear UUV model into a second-order integral UUV model. For unmeasurable disturbances consisting of unknown model uncertainties and external disturbance for each UUV, we design the distributed extended state observer (DESO) to estimate the disturbances using the UUV position information relative to its neighbours. Moreover, leader-following multi-UUVs consensus control algorithm that enables all following UUVs to track the leader UUV state information based on the estimation state information from the DESO is proposed for two types of topologies, the fixed and switching topologies. Finally, simulation results are shown to demonstrate the effectiveness of the algorithm proposed in the paper.

Highlights

An unmanned underwater vehicle (UUV) is a small underwater vehicle and is capable of propelling itself beneath the water as well as on the surface of water. e UUV is known as an autonomous underwater vehicle (AUV). e UUV and AUV are autonomous, which means they perform the assigned mission without any human intercession [1]
A consensus algorithm of high-order multiagents system with antagonistic interactions and communication noises was investigated in [10], in which a novel stochastic-approximation type protocol is proposed to attenuate communication noises and a bipartite consensus control with communication noises was analyzed from a new perspective
The communication mode of the multi-UUVs underwater is mainly based on the acoustic wave that has the restriction on the specified frequency, bandwidth, and limited distance, so the effective communication strategy can contribute to reaching the consensus control for the multi-UUVs

Summary

Introduction

An unmanned underwater vehicle (UUV) is a small underwater vehicle and is capable of propelling itself beneath the water as well as on the surface of water. e UUV is known as an autonomous underwater vehicle (AUV). e UUV and AUV are autonomous, which means they perform the assigned mission without any human intercession [1]. Some novel leader-following consensus control methods [20,21,22] were proposed to solve the problem of time-delays for the multiUUVs in our past research work. A leader-following multi-UUVs consensus algorithm with unmeasurable disturbances under the fixed and switching topologies is discussed. The leader-following multi-UUVs consensus algorithm with unmeasurable disturbances under the fixed topology and the switching topology is proposed, and the stability of the multi-UUVs system is analyzed. (1) e leader-following multi-UUVs consensus with disturbances under switching topologies is mainly investigated in this paper. (2) e DESO based on the relative position state for its neighbours is designed to estimate the lumped disturbance consisting of unknown model uncertainties and external disturbances in a multi-UUVs system under switching topology.

Problem Statement and Preliminaries

Problem Formulation

Simulation Result