Version 1
: Received: 28 August 2024 / Approved: 29 August 2024 / Online: 29 August 2024 (11:34:34 CEST)
How to cite:
Gu, Y.; Xu, Y.; Jiang, M.; Zhou, Z. Event-Triggered Two-Part Separation Control of Multiple Autonomous Underwater Vehicles Based on Extended Observer. Preprints2024, 2024082105. https://doi.org/10.20944/preprints202408.2105.v1
Gu, Y.; Xu, Y.; Jiang, M.; Zhou, Z. Event-Triggered Two-Part Separation Control of Multiple Autonomous Underwater Vehicles Based on Extended Observer. Preprints 2024, 2024082105. https://doi.org/10.20944/preprints202408.2105.v1
Gu, Y.; Xu, Y.; Jiang, M.; Zhou, Z. Event-Triggered Two-Part Separation Control of Multiple Autonomous Underwater Vehicles Based on Extended Observer. Preprints2024, 2024082105. https://doi.org/10.20944/preprints202408.2105.v1
APA Style
Gu, Y., Xu, Y., Jiang, M., & Zhou, Z. (2024). Event-Triggered Two-Part Separation Control of Multiple Autonomous Underwater Vehicles Based on Extended Observer. Preprints. https://doi.org/10.20944/preprints202408.2105.v1
Chicago/Turabian Style
Gu, Y., Mingzuo Jiang and Zhigang Zhou. 2024 "Event-Triggered Two-Part Separation Control of Multiple Autonomous Underwater Vehicles Based on Extended Observer" Preprints. https://doi.org/10.20944/preprints202408.2105.v1
Abstract
In this paper, we investigated the formation isolation regulation issue regarding multiple autonomous underwater vehicles (AUVs) characterized by a "leader-follower" framework. Considering the cooperative-competitive relationship among the follower AUVs and the impact of unknown external disturbances, an extended state observer was designed based on backstepping to mitigate these disturbances, and an event-triggered control scheme was designed to realize the two-part consensus control within the multi-AUV system. Through rigorous theoretical analysis, it is shown that the system achieves asymptotic steadiness and is free from zeno behavior under the proposed event-triggered control scheme. Finally, numerical simulations confirm the efficiency of the regulation strategy in achieving formation separation within the multi-AUV, where the trajectory tracking errors of individual AUVs gather in a compact vicinity close to the source and the structure converges was achieved, with the absence of zeno behavior also demonstrated.
Keywords
AUV; Control System; Formation Control
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
