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JOURNAL OF MECHANICAL ENGINEERING  > 2020  >  34(5): 631-640.
YAN Zhe-ping, WU Yi, LIU Yi-bo, REN Hong-liang, DU Xue. Multiple Unmanned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturbances Under Switching Directed Topologies[J]. JOURNAL OF MECHANICAL ENGINEERING, 2020, 34(5): 631-640. doi: 10.1007/s13344-020-0063-z
Citation: YAN Zhe-ping, WU Yi, LIU Yi-bo, REN Hong-liang, DU Xue. Multiple Unmanned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturbances Under Switching Directed Topologies[J]. JOURNAL OF MECHANICAL ENGINEERING, 2020, 34(5): 631-640. doi: 10.1007/s13344-020-0063-z
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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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  • Corresponding author: WU Yi, E-mail: wuyi_ivy@hrbeu.edu.cn; LIU Yi-bo, liuyibo8888@126.com
  • Received Date: 15 Dec 2019
  • Rev Recd Date: 29 May 2020
  • Accepted Date: 30 Jun 2020
    • Available Online: 12 May 2021
  • Publish Date: 10 Dec 2020
    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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