Finite-Time Formation Control for Autonomous Underwater Vehicles Based on Hierarchical Leader-Follower

Dong Hao Wang; Jian Yuan; Juan Xu; Zhong Hai Zhou

doi:10.4028/www.scientific.net/AMM.541-542.1164

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 541-542Finite-Time Formation Control for Autonomous...

Finite-Time Formation Control for Autonomous Underwater Vehicles Based on Hierarchical Leader-Follower

Abstract:

Finite-time Formation control of autonomous underwater vehicles (AUVs) is investigated. Considering the different communication ranges of multiple agents, we propose a hierarchical leader-follower finite-time consensus algorithm. The multiple agents are divided into three groups that are a global leader, local leaders and followers. Leaders form their positions according to their obtained information reliability. Simulations show the effectiveness of the proposed control scheme which can form predefined formation in finite time.

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Periodical:

Applied Mechanics and Materials (Volumes 541-542)

Pages:

1164-1167

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.541-542.1164

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Online since:

March 2014

Authors:

Dong Hao Wang, Jian Yuan, Juan Xu, Zhong Hai Zhou

Keywords:

Finite-Time Consensus, Formation Control, Hierarchical Leader-Follower, Multiple Agents

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References

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