Adaptive Flocking Control for Crowded UUV Swarm with Time-Delay Constraint

LIANG Hongtao; KANG Fengju

doi:10.11993/j.issn.2096-3920.202112012

Volume 31 Issue 2

Apr 2023

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LIANG Hongtao, KANG Fengju. Adaptive Flocking Control for Crowded UUV Swarm with Time-Delay Constraint[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 221-228, 258. doi: 10.11993/j.issn.2096-3920.202112012

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LIANG Hongtao, KANG Fengju. Adaptive Flocking Control for Crowded UUV Swarm with Time-Delay Constraint[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 221-228, 258. doi: 10.11993/j.issn.2096-3920.202112012

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Adaptive Flocking Control for Crowded UUV Swarm with Time-Delay Constraint

doi: 10.11993/j.issn.2096-3920.202112012

LIANG Hongtao^1
,,
KANG Fengju²

1.
School of Physics and Information Technology, Shaanxi Normal University, Xi’an 710119, China
2.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, 710072, China

Received Date: 2021-12-14
Accepted Date: 2022-12-07
Rev Recd Date: 2022-02-14

Abstract

Abstract

To address the flocking control problem of a crowded unmanned undersea vehicle (UUV) swarm under time-delay constraints, an adaptive flocking control approach was investigated using a multiscale bio-inspired mechanism. First, an adaptive flocking interaction model with a bio-inspired optimal neighbor selection strategy was established to robustly switch between single neighbor following and multiple neighbors following, which ensures the minimum quantity and optimal distribution. Second, considering time-delay constraints, a flocking controller was developed by incorporating a consensus protocol, potential field function model, and disturbance observer into the proposed interaction model, thereby guaranteeing collision avoidance and connectivity maintenance. Finally, by virtue of the Lyapunov theorem, state consensus under the time-delay condition is proved. Simulation results verify the effectiveness and superiority of the proposed control method.
- unmanned undersea vehicle,
- flocking control,
- time-delay constraint,
- collision avoidance,
- connectivity maintenance

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References(22)

References

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