首页|Finite-time tracking control of heterogeneous multi-AUV systems with partial measurements and intermittent communication
Finite-time tracking control of heterogeneous multi-AUV systems with partial measurements and intermittent communication
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The development of a distributed trajectory-tracking control strategy that is independent of velocity measurements is critical to achieving finite-time tracking control of autonomous underwater vehicle(AUV)systems.In this study,a group of heterogeneous AUV systems with intermittent communication links is considered and a finite-time trajectory-tracking control strategy is developed.The strategy includes two observers and one controller proposed for each follower-AUV.The first observer,a hybrid finite-time observer,estimates the state of the leader,whereas the second observer,which relies only on the position measurement,is proposed to estimate the states of the follower-AUV itself.In addition,a distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network even without velocity measurements.A homogeneous technique is utilized to prove that all followers can track the leader in a finite time.Finally,the effectiveness of the developed finite-time tracking control strategy is illustrated by numerical simulations.
NETL
NSTL
万方数据
