Title :
Finite-time consensus algorithms for multiple AUVs
Author :
Shihua Li ; Xiangyu Wang
Author_Institution :
Sch. of Autom., Southeast Univ., Nanjing, China
Abstract :
In this paper, finite-time consensus problem is investigated for multi-AUV (autonomous underwater vehicle) systems. Based on homogeneous control method, finite-time consensus algorithms are proposed for both leaderless and leader-follower multi-AUV systems. Specifically, in the leader-follower case, a novel distributed finite-time observer is developed for the followers to estimate the leader´s velocity. Simulations demonstrate the effectiveness of the proposed control algorithms.
Keywords :
autonomous underwater vehicles; control system synthesis; distributed control; graph theory; mobile robots; multi-robot systems; observers; robot dynamics; autonomous underwater vehicle; control algorithms; distributed finite-time observer; finite-time consensus algorithms; homogeneous control method; leader velocity estimation; leader-follower multi-AUV systems; leaderless multi-AUV systems; multiple AUV; Convergence; Educational institutions; Lead; Multi-agent systems; Observers; Protocols; Topology; AUVs; Finite-time consensus; leader-follower; leaderless;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
