Abstract
In this article, a distributed cooperative path-maneuvering control approach is developed for the region-searching of multiple autonomous underwater vehicles under both dynamic uncertainties and ocean currents. Salient contributions are as follows: (1) by virtue of boustrophedon motions and trigonometric functions, the coverage path-planning design is first proposed to generate multiple parameterized paths, which can guarantee that the region-searching is successfully completed by one trial; (2) combining with sliding mode and adaptive technique, distributed maneuvering control laws for surge and yaw motions are employed to drive vehicles to track the assigned paths, thereby contributing to the cooperative maneuvering performance with high accuracy; (3) by the aid of graph theory, the distributed signal observer-based consensus protocols are developed for path parameter synchronization, and successfully apply to maintain the desired formation configuration. The globally asymptotical stability of the closed-loop signals is analyzed via the direct Lyapunov approach, and simulation studies on WL-II are conducted to illustrate the remarkable performance of the proposed path-maneuvering control approach.
Highlights
A distributed cooperative path-maneuvering control (DCPMC) approach including coverage path-planning (CPP) design, individual pathmaneuvering control (IPMC) design, and path parameter synchronization (PPS) design is developed for Autonomous underwater vehicles (AUVs) under dynamic uncertainties and ocean currents
A DCPMC approach was developed for a cluster of under-actuated
By the aid of smooth boustrophedon paths, the CPP is designed for the region-searching, where multiple parameterized paths
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. The individual vehicle system inevitably poses a threat to large-range and long-time engineering applications due to its restricted payloads and communications In this context, the cooperative path-maneuvering control (CPMC) approaches of multiple vehicles have been significantly developed, such as the leader follower [19,20], the consensus [21,22], and others [23,24]. We focus on the unresolved problem of cooperative region-searching for multiple under-actuated AUVs. A distributed cooperative path-maneuvering control (DCPMC) approach including coverage path-planning (CPP) design, individual pathmaneuvering control (IPMC) design, and path parameter synchronization (PPS) design is developed for AUVs under dynamic uncertainties and ocean currents. Within the IPMC design, distributed adaptive sliding control laws are developed for AUVs to track the assigned paths despite the existence of dynamic uncertainties and ocean currents.
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