A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System

作     者：Linling Wang Daqi Zhu Wen Pang Chaomin Luo Linling Wang;Daqi Zhu;Wen Pang;Chaomin Luo

作者机构：the Shanghai Engineering Research Center of Intelligent Maritime Search&Rescue and Underwater VehiclesShanghai Maritime UniversityShanghai 201306China the Shanghai Maritime UniversityShanghai 201306China the School of Mechanical EngineeringUniversity of Shanghai for Science and TechnologyShanghai 200093China the Department of Electrical and Computer EngineeringMississippi State UniversityMississippi StateMS 39762 USA 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2023年第10卷第5期

页      面：1304-1318页

核心收录：

学科分类：0402[教育学-心理学(可授教育学、理学学位）] 0303[法学-社会学] 0710[理学-生物学] 0711[理学-系统科学] 08[工学] 0802[工学-机械工程] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported in part by the National Natural Science Foundation of China (62033009) the Creative Activity Plan for Science and Technology Commission of Shanghai (20510712300,21DZ2293500) the Supported by Science Foundation of Donghai Laboratory。 

主　　题：Autonomous underwater vehicle(AUV) event-triggered control fixed-time consensus formation obstacle avoidance improved artificial potential field and leader-follower strategy(IAPF-LF) 

摘      要：In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy(IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy.The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.