A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned under...A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.展开更多
基金financially supported by the National Natural Science Foundation of China (Grant Nos. 51679057 and 51709062)Heilongjiang Province Outstanding Youth Fund (Grant No. J2016JQ0052)+2 种基金Equipment Preresearch Key Lab Fund (Grant No. 614221580107)China Postdoctoral Science Foundation (Grant No. 2019M651265)Harbin Science and Technology Talent Research Special Fund (Grant No.2017RAQXJ150)。
文摘A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.
