Finite-Time Consensus Study For Underwater Vehicles

The autonomous underwater vehicles(AUVs) have attracted more and more scholars' attentions and research for their extensive applications in recent years. The problem of finite-time consensus about them is also constantly developed. Because of the complexity of the underwater environment and other factors, sometimes the parameters of models are unknown exactly, also when we need the AUVs reach consensus in finite time, we must use the adaptive theory and some other methods to make the state value of the AUVs achieve a same value in finite time.The main research contents and results are shown as follows :Firstly, we study the finite time consensus of the underwater vehicles containing unknown parameters when the structure of the internet topology is fixed and undirected. By setting a virtue parameter, we first make the system Lyapunov stability, and then design the control torque with a projection algorithm. We analyze the AUVs' finite-time stability according to the different situation. At last, by using the simulation software which called matlab, we verify the effectiveness of the torque design.Secondly, we research how to make the AUVs arrive at a given static location, which also means that when not all of the AUVs can achieve the information of the static location, the AUVs with unknown parameters get to consensus in finite time, in this situation, the topology is directed. By Lyapunov and adaptive theory, we design the control design, and analyze the stability and finite time consensus, also make the matlab simulation to verify it.Finally, as the typical structure, we research the AUVs with leader follower structure. In this structure, we study how the AUVs can reach consensus in finite time when they have unknown parameters. By means of transform the distributed internet topology into the structure of layer-stepping, we use the inductive method to carry on the theoretical derivatio n and design the control torque which makes the AUVs achieve consensus in finite time. Similarly we give the torque assignment to verify the effectiveness with matlab simulation.