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Cooperative Pursuit Control for Multiple Underactuated Underwater Vehicles with Time Delay in Three-Dimensional Space

Published online by Cambridge University Press:  27 October 2020

Xue Qi Open the ORCID record for Xue Qi [Opens in a new window]  and
Zhi-Jun Cai
Xue Qi*
Affiliation:
College of Information and Network Engineering, Anhui Science and Technology University, Fengyang 233100, China
Zhi-Jun Cai
Affiliation:
School of Finance and Economics, Anhui Science and Technology University, Fengyang 233100, China
*
*Corresponding author. E-mail: qixuesnow@163.com
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Summary

In this paper, the k-valued logic control network is introduced to study the cooperative pursuit control problem of multiple underactuated underwater vehicles (UUVs) with time delay in three-dimensional space. The semi-tensor product of matrices is used to solve the complex calculation problem of the large dimension matrix. The influence of communication delay on multiple UUVs’ optimization and cooperative pursuit control is expressed in a matrix. Under the leadership of evader UUV, the control algorithm can ensure that all the pursuit UUVs reach the desired position. The stability of the closed loop system is proved.

Keywords

Underactuated underwater vehiclek-valued logic control networksCoordinated controlTime delayPursuit control93C8593B5165P40

Information

Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 1101 - 1115
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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