Research on Formation Control Method of Heterogeneous AUV Group under Event-Triggered Mechanism

Ke Chen, Guangyu Luo, Hao Zhou and Dongming Zhao
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Ke Chen: Naval Research Institute, Beijing 100094, China
Guangyu Luo: School of Automation, Wuhan University of Technology, Wuhan 430070, China
Hao Zhou: School of Automation, Wuhan University of Technology, Wuhan 430070, China
Dongming Zhao: School of Automation, Wuhan University of Technology, Wuhan 430070, China

Mathematics, 2022, vol. 10, issue 9, 1-15

Abstract: The time-sampling control strategy has communication discontinuities in the control of multiple AUVs (autonomous underwater vehicles). To overcome this problem, a distributed event-triggered communication mechanism is proposed to make each AUV communicate only when its own state is updated, which reduces the frequency of communication and improves the stability. This mechanism has better adaptability for formation control between heterogeneous AUV groups. At the same time, two consistency control algorithms based on event-triggered for homogeneous and heterogeneous AUV groups are studied, respectively. The known consistency algorithms are applied to the control of heterogeneous AUV groups for comparative analysis. The simulation results demonstrate that the number of communication among AUVs under the event-triggered control strategy can be significantly reduced. Therefore, the stability of the system is improved. Compared with the traditional consensus algorithm, the algorithm proposed in this paper has advantages in the control of heterogeneous AUV groups.

Keywords: homogeneous AUVs; heterogeneous AUVs; event-triggered control; consistency control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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