| Autor: |
Yunyang Gu, Yueru Xu, Mingzuo Jiang, Zhigang Zhou |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
World Electric Vehicle Journal, Vol 15, Iss 10, p 473 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2032-6653 |
| DOI: |
10.3390/wevj15100473 |
| Popis: |
In this paper, we investigate the formation isolation regulation issue regarding multiple Autonomous Underwater Vehicles (AUVs) characterized by a “leader–follower” framework. Considering the cooperative–competitive relationship among the follower AUVs and the impact of unknown external disturbances, an extended state observer is designed based on backstepping to mitigate these disturbances, and an event-triggered control scheme is designed to realize the two-part consensus control within the multi-AUV system. Through rigorous theoretical analysis, it is shown that the system achieves asymptotic steadiness and is free from Zeno behavior under the proposed event-triggered control scheme. Finally, numerical simulations confirm the efficiency of the regulation strategy in achieving formation separation within the multi-AUV, where the trajectory tracking errors of individual AUVs gather in a compact vicinity close to the source, and the structure convergence is achieved, with the absence of Zeno behavior also demonstrated. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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