J4 ›› 2012, Vol. 25 ›› Issue (3): 103-107.doi: 10.3976/j.issn.1002-4026.2012.03.022

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Finite-time collision-free coordination control approach for autonomous underwater vehicles

YUAN Jian1, ZHANG Wen-Xia2, ZHOU Zhong-Hai1   

  1. 1.Institute of Oceanographic Instrumentation, Shandong Academy of Sciences, Qingdao 266001, China; 2.Department of Mechanical & Electrical Engineering, Qingdao College, Qingdao 266016, China
  • Received:2012-02-06 Published:2012-06-20 Online:2012-06-20

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Abstract:

       This paper addresses the finite-time cooperative control for autonomous underwater vehicles (AUVs). We present a multi-agent control based finite-time consensus tracking control law. A virtual force is given to achieve the collision-free coordination control among many AUVs by vector composition with the law. Simulation results demonstrate the effectiveness of the proposed control scheme.

Key words: autonomous underwater vehicles, virtual force, virtual pilot, finite-time consensus, cooperative control

CLC Number: 

  • TP242.3

Open Access This article is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0), which permits third parties to freely share (i.e., copy and redistribute the material in any medium or format) and adapt (i.e., remix, transform, or build upon the material) the articles published in this journal, provided that appropriate credit is given, a link to the license is provided, and any changes made are indicated. The material may not be used for commercial purposes. For details of the CC BY-NC 4.0 license, please visit: https://creativecommons.org/licenses/by-nc/4.0

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