Paper Info
Title
Finite-Time Velocity-Free Rendezvous Control of Multiple AUV Systems With Intermittent Communication
Abstract
In this study, a finite-time velocity-free rendezvous control method is considered for multiple autonomous underwater vehicle (AUV) systems with intermittent undirected communication. First, we develop a distributed finite-time observer for each AUV to estimate its own state information. Second, we design a rendezvous control algorithm that utilizes the estimated state information intermittently through a communication network in the absence of velocity measurement. A homogeneous method is used to prove that all AUVs in the group can achieve rendezvous in finite time for a network with intermittent communication, even without velocity measurements. The proposed method is shown to reduce the communication load of the system. More importantly, the control algorithm achieves the control goal of the system and is proven to be viable for many practical applications of multiple AUV systems from both economic and security perspectives. Finally, the effectiveness of the proposed control protocol is demonstrated via numerical simulations.
Year
DOI
Venue
2022
10.1109/TSMC.2022.3148295
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Keywords
DocType
Volume
Distributed observer,finite-time rendezvous control, intermittent communication,multiple autonomous underwater vehicle (AUV) systems,velocity-free measurement
Journal
52
Issue
ISSN
Citations 
10
2168-2216
0
PageRank 
References 
Authors
0.34
29
4
Name
Order
Citations
PageRank
Bo Chen110.69
Jiangping Hu212.41
Yiyi Zhao300.68
Bijoy K Ghosh424638.84