Consensus path-following control of multiple underactuated unmanned underwater vehicles
type: Item
instance of: scholarly article
title: Consensus path-following control of multiple underactuated unmanned underwater vehicles
zbMATH Open document ID: 1407.93269
DOI: 10.1155/2018/4975187
author: Yintao Wang
author: Yao Yao
author: Junpei Zhong
published in: Complexity
publication date: 2019-02-19T00:00:00Z
review text: Summary: This work mainly studies the problem of how to steer a group of underactuated unmanned underwater vehicles (UUVs) to specified paths coordinately. The algorithm proposed consists of a single path-following strategy and a path parameter consensus tracking strategy. In the context of single path following, we describe the path to be followed by an arbitrary scalar, then by using Lyapunov and backstepping theories, a single path-following strategy was derived to drive each UUV move to the predefined path asymptotically. In the coordinated level, we focus on the coordination for the scalar parameters. In particular, we show that all the path parameters can track with a virtual reference leader who is a neighbor of only a subset of following UUVs with local interactions. The stability of the closed system was proved and analyzed theoretically. The validity of the algorithm proposed is supported by simulation results.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93B52
zbMATH DE Number: 7025038
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/4975187
OpenAlex ID: W2900088892
cites work: Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties
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cites work: Passivity-based designs for synchronized path-following
cites work: Cooperative control of multiple surface vessels in the presence of ocean currents and parametric model uncertainty
cites work: Coordinated Path-Following in the Presence of Communication Losses and Time Delays
Wikidata QID: Q128995491
description: scientific article; zbMATH DE number 7025038