Multiple Unmanned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturbances Under Switching Directed Topologies
doi: 10.1007/s13344-020-0063-z
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Abstract: A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities, the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles (multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle (UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a second-order integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer (DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally, we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.
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Figure 3. Position and attitude states trajectories of the leaderless UUVs system in the example.
Table 1. Symbols for an UUV
DOF Forces and
momentsLinear/
Angular velocitiesPositions/
Euler angles1 Surge X u x 2 Sway Y v y 3 Heave Z w z 4 Pitch M q $ {\textit{θ}}$ 5 Yaw N r $ {\textit{ψ}}$ 
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