Average consensus time-varying formation control of underactuated autonomous underwater vehicles based on event triggering decoupling mechanism
Ocean Engineering, ISSN: 0029-8018, Vol: 291, Page: 116490
2024
- 7Citations
- 1Captures
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Article Description
This paper focuses on the challenge of time-varying formation control for underactuated autonomous underwater vehicles (AUVs). To tackle this challenge, an average consensus time-varying formation control based on event triggering decoupling mechanism (ETDM-ACTVF) is proposed. Firstly, the average consensus time-varying formation (ACTVF) based on the affine transformation are introduced, and the control objective considering the dynamic characteristics of underactuated AUVs is proposed. The trajectory tracking controller is designed by the back stepping method. Secondly, an event triggering decoupling mechanism (ETDM) achieves the state decoupling to constrain the uncontrollable state. Moreover, a dynamic event triggering mechanism is employed to reduce the execution frequency of actuators. Finally, the excellent performance of the proposed algorithm in addressing both the underactuated AUV time-varying formation control and decoupling control problems is demonstrated through simulation results.
Bibliographic Details
http://www.sciencedirect.com/science/article/pii/S0029801823028743; http://dx.doi.org/10.1016/j.oceaneng.2023.116490; http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=85179158852&origin=inward; https://linkinghub.elsevier.com/retrieve/pii/S0029801823028743; https://dx.doi.org/10.1016/j.oceaneng.2023.116490
Elsevier BV
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