Finite-time tracking control of heterogeneous multi-AUV systems with partial measurements and intermittent communication  

作　　者：Bo CHEN Jiangping HU Bijoy Kumar GHOSH 

机构地区：[1]School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China [2]Key Laboratory of Intelligent Analysis and Decision on Complex Systems,Chongqing University of Posts and Telecommunications,Chongqing 400065,China [3]Yangtze Delta Region Institute(Huzhou),University of Electronic Science and Technology of China,Huzhou 313001,China [4]Department of Mathematics and Statistics,Texas Tech University,Lubbock TX 79409-1042,USA

出　　处：《Science China(Information Sciences)》2024年第5期161-178,共18页中国科学（信息科学）（英文版）

基　　金：supported partially by National Key Research and Development Program of China(Grant No.2022YFE0133100);Sichuan Science and Technology Program(Grant No.24NSFSC1362).

摘　　要：The development of a distributed trajectory-tracking control strategy that is independent of velocity measurements is critical to achieving finite-time tracking control of autonomous underwater vehicle(AUV)systems.In this study,a group of heterogeneous AUV systems with intermittent communication links is considered and a finite-time trajectory-tracking control strategy is developed.The strategy includes two observers and one controller proposed for each follower-AUV.The first observer,a hybrid finite-time observer,estimates the state of the leader,whereas the second observer,which relies only on the position measurement,is proposed to estimate the states of the follower-AUV itself.In addition,a distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network even without velocity measurements.A homogeneous technique is utilized to prove that all followers can track the leader in a finite time.Finally,the effectiveness of the developed finite-time tracking control strategy is illustrated by numerical simulations.

关 键 词：distributed observer finite-time tracking homogeneous technique intermittent communication multiple heterogeneous AUVs 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]