Research On Consensus Control Of Multi-AUV Formation Under Communication Delay

Multiple Autonomous Underwater Vehicles(multi-AUVs)overcome the shortcomings of poor redundancy,low work efficiency,and small range of tasks faced by a single underwater vehicle when performing marine missions.Therefore,coordinated control of multi-AUVs systems become an important aspect of the development of underwater vehicles.The key to the coordinated control of multi-AUVs formations is that the formation members can quickly obtain the position information and speed information between adjacent aircraft,so as to adjust their own state,and the system can form a stable formation through overall coordination.However,the special underwater communication environment affects the speed and completeness of information obtained by each AUV member.This paper main research problems about such as communication delay,communication topology switching,formation transformation and multi-tasking when multiple AUV formations perform different tasks.The main research content of the thesis is divided into the following aspects:First,for the distributed multi-AUV formation coordinated control structure,the nonlinear coupling model of the underwater vehicle is used as the object to construct a second-order integral dynamic model based on accurate feedback linearization,so as to construct the multi-AUVs formation coordinated control system.The basic form of the consensus algorithm in the formation is introduced,and the conditions for stable convergence of the formation of multi-AUVs are analyzed.The stability of the multi-AUVs delay formation control system is analyzed by constructing functionals,and the stable and convergent conditions for the multi-AUVs formation system with fixed delay are obtained through the linear matrix inequality theory.The difference in convergence performance of two different consensus formation control algorithms is analyzed through simulation and theory.Secondly,in view of the uncertain time delay problem of the real marine environment,a consistent formation control algorithm based on position information is designed,which reduces the massive communication delay problem caused by the processing position information and speed information of the underwater vehicle.By constructing the Lyapunov function,the sufficient conditions for the multi-AUV formation control algorithm to maintain stable convergence are obtained.The communication topology of the multi-AUV system also has a decisive impact on the stability of the distributed formation.In the process of navigation and mission execution,the communication topology of the multi-AUV system will change due to special reasons,so analyze the system when the topology changes.The stability is very necessary.Finally,for the scenario of multiple marine tasks,how can a group of multiple AUV systems perform two or more sets of tasks at the same time?When the multiple AUV formations face complex coordinated control problems,the problem of division of labor and coordinated control arises,that is,multiple AUVs.System grouping consensus problem.At the same time,the control algorithm also considers the communication delay problem caused by the local information interaction of the multi-AUV system.For the communication topology of the multi-AUV system,the grouping consensus problem of the second-order continuous-time system with the global reachability point exists.Through simulation verification,the group consensus control algorithm designed in this paper can effectively and stably complete grouping,and the speed state and position state of the grouped members can quickly complete uniform convergence.