Write your message
Volume 17, Issue 34 (12-2021)                   marine-engineering 2021, 17(34): 111-121 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Haghparast M, Taheri E. Formation Control for a Group of Autonomous Underwater Vehicles Subject to Switching Topologies and Time Delay Factor. marine-engineering. 2021; 17 (34) :111-121
URL: http://marine-eng.ir/article-1-934-en.html
1- Malek Ashtar University of Technology
Abstract:   (240 Views)
The presence of switchable communication topologies in a multi-agent system‏ causes the adjacency, degree, and Laplacian matrices of the group, and finally, its Fiedler eigenvalue, to constantly change, thereby affecting the group consensus. The key motivation of this study is to design an appropriate control law to achieve group consensus and create a hexagonal motion formation in a group of autonomous underwater vehicles by considering switching communication topologies between agents. For this purpose, first, the six degrees of freedom mathematical model of each AUV is presented and then the relationship between the agents of the group is modelled through the graph theory. The leader-follower consensus control algorithm is then designed to form a hexagonal arrangement between the leader and the follower robots. The proposed consensus control algorithm has been assessed in two different scenarios: 1- Switching communication topology between the follower robots, 2- Switching communication topology between the follower robots with time delay factor.
Full-Text [PDF 5769 kb]   (118 Downloads)    
Type of Study: Research Paper | Subject: Submarine Hydrodynamic & Design
Received: 2021/10/6 | Accepted: 2021/11/25

References
1. J. Yang, M. Fečkan, and J. Wang, "Consensus Problems of Linear Multi-agent Systems involving Conformable Derivative," Applied Mathematics and Computation, vol. 394, pp. 125809, 2021. [DOI:10.1016/j.amc.2020.125809]
2. L. Shi, and D. Xie, "Leader-following consensus of second-order multi-agent systems with time-varying delays and arbitrary weights," Transactions of the Institute of Measurement and Control, vol. 42, no. 16, pp. 3156-3167, 2020. [DOI:10.1177/0142331220942715]
3. C. Deng, and G.-H. Yang, "Leaderless and leader-following consensus of linear multi-agent systems with distributed event-triggered estimators," Journal of the Franklin Institute, vol. 356, no. 1, pp. 309-333, 2019. [DOI:10.1016/j.jfranklin.2018.10.001]
4. H. Zhao, S. Xu, and D. Yuan, "An LMI approach to consensus in second-order multi-agent systems," International Journal of Control, Automation and Systems, vol. 9, no. 6, pp. 1111-1115, 2011. [DOI:10.1007/s12555-011-0612-6]
5. M. Park, O. Kwon, J. H. Park, S. a. Lee, and E. Cha, "Randomly changing leader-following consensus control for Markovian switching multi-agent systems with interval time-varying delays," Nonlinear Analysis: Hybrid Systems, vol. 12, pp. 117-131, 2014. [DOI:10.1016/j.nahs.2013.11.003]
6. Y. Shang, "Consensus seeking over Markovian switching networks with time-varying delays and uncertain topologies," Applied Mathematics and Computation, vol. 273, pp. 1234-1245, 2016. [DOI:10.1016/j.amc.2015.08.115]
7. X. Hu, Z. Zhang, C. Li, and L. Li, "Leader-following Consensus of Multi-agent Systems via a Hybrid Protocol with Saturation Effects," International Journal of Control, Automation and Systems, vol. 19, no. 1, pp. 124-136, 2021. [DOI:10.1007/s12555-019-1042-0]
8. Z. Zhang, S.-M. Chen, and Y. Zheng, "Fully Distributed Scaled Consensus Tracking of High-order Multi-agent Systems with Time Delays and Disturbances," IEEE Transactions on Industrial Informatics, 2021. [DOI:10.1109/TII.2021.3069207]
9. X. Zhang, and C. Li, "Finite-time stability of nonlinear systems with state-dependent delayed impulses," Nonlinear Dynamics, vol. 102, no. 1, pp. 197-210, 2020. [DOI:10.1007/s11071-020-05953-4]
10. W. Zhang, J. Zeng, Z. Yan, W. Tian, and Y. Zhang, "Coordinated Control for Multiple Autonomous Underwater Vehicles Recovery System with Time Delay." pp. 1-7.
11. A. ur Rehman, M. Rehan, M. Riaz, M. Abid, and N. Iqbal, "Consensus tracking of nonlinear multi-agent systems under input saturation with applications: A sector-based approach," ISA transactions, vol. 107, pp. 194-205, 2020. [DOI:10.1016/j.isatra.2020.07.030]
12. G. Zong, H. Ren, and H. R. Karimi, "Event-triggered communication and annular finite-time H∞ filtering for networked switched systems," IEEE Transactions on Cybernetics, vol. 51, no. 1, pp. 309-317, 2020. [DOI:10.1109/TCYB.2020.3010917]
13. T. T. J. Prestero, "Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle," Massachusetts institute of technology, 2001. [DOI:10.1575/1912/3040]
14. E. Taheri, M. H. Ferdowsi, and M. Danesh, "Design boundary layer thickness and switching gain in SMC algorithm for AUV motion control," Robotica, vol. 37, no. 10, pp. 1785-1803, 2019. [DOI:10.1017/S0263574719000262]
15. Z. Yan, Z. Yang, L. Yue, L. Wang, H. Jia, and J. Zhou, "Discrete-time coordinated control of leader-following multiple AUVs under switching topologies and communication delays," Ocean Engineering, vol. 172, pp. 361-372, 2019. [DOI:10.1016/j.oceaneng.2018.12.018]
16. W. Zhang, J. Zeng, Z. Yan, S. Wei, J. Zhang, and Z. Yang, "Consensus control of multiple AUVs recovery system under switching topologies and time delays," IEEE Access, vol. 7, pp. 119965-119980, 2019. [DOI:10.1109/ACCESS.2019.2935104]

Send email to the article author


Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

Creative Commons License
International Journal of Maritime Technology is licensed under a

Creative Commons Attribution-NonCommercial 4.0 International License.