Leader-following consensus of discrete-time multi-AUV recovery system with time-varying delay
Ocean Engineering(2021)
摘要
This paper is concerned with the leader-following consensus of discrete-time multi-AUV recovery systems with time-varying delay. During the recycling process, the mothership is regarded as a leader, and AUVs are regarded as followers. The multi-AUV recovery problem is transformed into the leader-following coordinated control problem. A new leader-following consensus control protocol with time-varying delay for discrete-time multi-AUV recovery systems is proposed by modeling directed fixed communication topology. New stability criteria are established to guarantee the consensus of the multi-AUV recovery system based on suitable Lyapunov-Krosovskii functional and a set of linear matrix inequalities. Therefore, the controller gains are derived. Finally, simulation results are provided to illustrate the effectiveness of theoretical results.
更多查看译文
关键词
Multiple AUVs,Recovery system,Discrete-time,Leader-following consensus,Time-varying delay
AI 理解论文
溯源树
样例
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要