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Volume 19 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2011  >  19(3): 195-200
MOU Chun-hui, BIAN Xin-qian, WANG Hong-jian, LI Juan. Coordinated Path Tracking Control of Multi-UUV with Communication Constraint[J]. Journal of Unmanned Undersea Systems, 2011, 19(3): 195-200. doi: 10.11993/j.issn.1673-1948.2011.03.008
Citation: MOU Chun-hui, BIAN Xin-qian, WANG Hong-jian, LI Juan. Coordinated Path Tracking Control of Multi-UUV with Communication Constraint[J]. Journal of Unmanned Undersea Systems, 2011, 19(3): 195-200. doi: 10.11993/j.issn.1673-1948.2011.03.008
shu

Coordinated Path Tracking Control of Multi-UUV with Communication Constraint

doi: 10.11993/j.issn.1673-1948.2011.03.008

  • College of Automation, Harbin Engineering University, Harbin 150001, China

  • Received Date: 2011-04-18
  • Rev Recd Date: 2011-05-10
  • Publish Date: 2011-06-30
    Abstract
  • Time delay exists in the underwater acoustic communication among UUVs. The purpose of this paper is to study multi-UUV coordinated control with time delay in communication for the path tracking of UUV formation. The path tracking controller of single UUV is designed based on backstepping method, and the path tracking control system is proved input-to-state stable by Lyapunov theory. Considering the fixed time delays in communication topology, a coordinated controller under time-delay based on uniformly connected in mean is proposed. It is proved that the designed formation control system is asymptotically stable if the undirected graph associated with the communication topology is uniformly connected in mean. The controller can effectively perform the coordinated path tracking control under time delay in communication for UUV formation. Simulation result shows its effectiveness.

     

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