文章基本信息

标题：Formation Control of Multiple Autonomous Underwater Vehicles under Communication Delay, Packet Discreteness and Dropout
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作者：Li, Liang ; Li, Yiping ; Zhang, Yuexing 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：7
页码：1-21
DOI：10.3390/jmse10070920
语种：English
出版社：MDPI AG
摘要：Effective communication between multiple autonomous underwater vehicles (AUVs) is necessary for formation control. As the most reliable underwater communication method, acoustic communication still has many constraints compared with radio communication, which affects the effectiveness of formation control. Therefore, this paper proposes a formation control scheme for multiple AUVs under communication delay, packet discreteness and dropout. Firstly, the communication delay is estimated based on the kernel density estimation method. To solve the problem of packet discreteness and dropout, the curve fitting method is used to predict the states of the AUV. Secondly, a follower controller is designed based on the leader–follower approach using input–output feedback linearization, which is proven to be stable with Lyapunov stability theory. Then, some simulation results are presented to demonstrate the stability and accuracy of the formation control in different communication environments. Finally, the field tests on the lake show that the scheme introduced in this paper is valid and practical.
关键词：autonomous underwater vehicles (AUVs); acoustic communication; formation control; kernel density estimation; curve fitting; input–output feedback linearization