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Synchronized motion of master-slave autonomous underwater vehicles via communication channel with limited capacity

机译：具有有限的通信信道的主奴隶自治水下车辆的同步运动

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This paper studies synchronized motion of the master-slave autonomous underwater vehicles under the constraints that the capacity of communication channel is limited. The dynamical-models of both the master vehicle and slave vehicle are mathematically given in form of fully-actuated Euler-Lagrange equation, and a master-slave motional-state synchronization scheme coupled by a saturated state-error feedback controller is established under the consideration of binary coding-decoding procedure. A definition of robust synchronization with error bound is introduced, then, by means of Lyapunov stability theory, some synchronization criterions are derived and the corresponding synchronization error bound is estimated. Both of the theoretical analyses and the final numerical simulation show that the synchronization error bound is inversely proportional to the channel capacity.
机译：本文研究了通信信道容量限制的限制下主从自动水下车辆的同步运动。主车辆和从车的动态模型以完全致动的欧拉拉格朗日方程的形式进行数学上给出，并且在考虑下建立由饱和状态误差反馈控制器耦合的主从动机状态同步方案二元编码解码过程。介绍了与误差绑定的鲁棒同步的定义，然后，通过Lyapunov稳定性理论，导出了一些同步标准，并且估计相应的同步误差符号。两个理论分析和最终数值模拟表明，同步误差绑定与信道容量成反比。

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