Cooperative Control Of Multi-Autonomous Underwater Vehicle Based On Consensus Theory

As an effective device for exploring the seabed sources and undertaking undersea scientific inspection tasks,AUV(Autonomous Underwater Vehicle)has drawn extensive attention in recent years.However,single AUV cannot accomplish its mission perfectly in various operating environments due to its narrow operating range,no redundancy,limited awareness and communication capabilities,and the high intelligence requirement.Therefore,the multi-AUVs(Multiple Autonomous Underwater Vehicle)system appears.This kind of group intelligence system is originated from nature phenomenon such as bird flocks and school flocks.Due to its wide distribution range,low intelligence requirement of single carrier and large amount of redundancy,the multi-AUVs system have drew attention from and been applied to a wide range of fields and disciplines.In AUVs coordinated control,as a basic control requirement,formation control has become a hot topic in the field of AUVs.Compared with UAVs coordination and AUVs coordination,the working environment of AUVs is featured by weak communication.Therefore,the research of cooperative control algorithm under the condition of limited communication has become the focus of research.The consistency control algorithm is selected because the clustering behavior of AUVs,such as rounding and formation tracking,needs the consistency of all state information of AUVs.Meanwhile,taking the impact of underwater acoustic environment on operation into account,it is necessary to study the application of limitedly application of time consistency algorithm in collaborative control.According to the requirements of application and communication environment respectively,this paper studies the finite time consistency algorithm based on AUVs system,the consistency algorithm under communication constraints and the inter-team collision avoidance in formation transformation based on artificial potential field function algorithm.The finite time consistency algorithm has become the focus of this paper for its advantages of short adjustment time and good dynamic performance.In this paper,AUVs system is formulated as a consensus algorithm for first-order and second-order systems.At the same time,considering the discrepancy of the reference data obtained by several robots,a two-layer co-coordinated control algorithm is studied.This paper studies the application of asymptotic consistency and finite time consistency algorithm in collaborative formation of virtual navigator,single pilot and multi-pilot respectively.The finite time cooperative formation control method for the weak communication system is studied.First of all,aiming at the characteristics of weak communication system,this paper adopts the consensus algorithm to negotiate the consistency of state information of AUVs.The problem of cooperative formation control of AUVs with fixed communication distance is studied.This paper mainly studies the formation of single pilot and time-varying communication topology.Each robot updates its status based on the received neighbor status data.AUVs store received state information from their neighbors and use the historical information to make the consensus when data links has failed or information is lost.Research is made on collision avoidance algorithm based on artificial potential field function.By designing the potential field function around each robot,the virtual force of potential field inside and outside the robot is formed,and the collision avoidance mechanism of multiple robots for static and dynamic targets is realized.Finally,this paper uses the method of zero space summation.The collision-free coordinated control of AUVs is carried out based on finite-time consensus algorithms and artificial potential field.