Consensus control of multiple autonomous underwater vehcles autonomous underwater vehicles under delays amng for dynamc under delays aiming for dynamic target huntng tasks target hunting tasks

A novel tracking method applying the consensus theory to solve the underwter movingtargethuting prblemis proposedin this A noveltracking method applying the consen us theory to olve theunrwa emovingtarget huntingprobl misproposed in ths article. By treating the moving target as a virtual member in theautonomousuderwatervehicle (AUV)formation, informatioarticle By treating the moving target a a virtua member in thauonomuunderwater vehicl(AUV) formation,inormation as the position and velocity of the target are naturally the final astheposiionand veocity of etarget aenaturalyhefinal consensus status of the AUVfleet . Stability criteria are established tguarantee heconsensusof the hunting systembasedonsuitable consensus status of the AUV fleet Stability crite ia are established to guarantee the consenssofthehuntingsystem basedon sutble Lyapunov-Razumikhin functional theorem, and the controller gains Lyapunov-R zumkhinfunctional theoremandhe controlle gains are derived. The cross-extendedKalman filter localization model arerived.The cross-extendedKalmanfiltelocalizaion model based on bearing information is applied to improve target detection basedonbearng informationisappliedtoimprovetargetdetection accuracy, and a velocity replacing consensus algorithm (VeRConA) accuracy,anda velocityrplacingcnsensusalgorithm(VeRConA) is proposed to obtain the velocity of the target despite sacrificing verylittlof theleader's trackingaccuracy. Numricalsimulaton is propose d to obtain the velocity of the ta get despite sacrificing vrylitle otheleaderstrackngaccurcy.Numerical simultion results show that the consensus theory can be applied to the target resultsshowhatconsensutheorycan beappliedtothetarget hunting task, and the proposed VeRConAalgorithm is exceptionally huntigtask,andtheproposedVeRConAagorithmis excptionaly efficient for the AUV formation to achieve sub-consensus status in thetracking process. efficient for the AUV