...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Ocean engineering >Distributed finite-time velocity-free robust formation control of multiple underactuated AUVs under switching directed topologies
【24h】

Distributed finite-time velocity-free robust formation control of multiple underactuated AUVs under switching directed topologies

机译：Distributed finite-time velocity-free robust formation control of multiple underactuated AUVs under switching directed topologies

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相关主题

摘要

This paper proposes a distributed finite-time velocity-free robust formation control scheme for multiple underactuated autonomous underwater vehicles (AUVs) under switching directed topologies in the presence of uncertain dynamics and unknown time-varying external disturbances. Here, a novel finite-time velocity observer is created for each AUV to estimate its neighbors' velocities within a finite time so that only its neighbors' positions need to be transmitted, which reduces the communication burden between AUVs. Then, a super-twisting extended state observer is constructed for each AUV to estimate its total disturbances lumped by the uncertain dynamics and the unknown time-varying external disturbances, whose estimation errors can converge to zero within a finite time. Further, a distributed finite-time velocity-free robust formation control law is proposed incorporating the above into the nonsingular terminal sliding mode technique. Theoretical analysis and simulation results indicate that the proposed formation control law can make the multiple AUVs achieve the desired formation pattern while guaranteeing the formation errors converge to zero within a finite time.

著录项

获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号