Robust optimal tracking control of multiple autonomous underwater vehicles subject to uncertain disturbances

Guan Huang, Zhuo Zhang, Weisheng Yan, Rongxin Cui, Shouxu Zhang, Xinxin Guo
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Abstract

This paper considers the problem of robust optimal tracking control of multiple autonomous underwater Vehicles (AUVs) subject to uncertain external disturbances. First, the Takagi‐Sugeno (T‐S) fuzzy based technique is utilized to convert the high‐order nonlinear multi‐AUV system into a series of linearized subsystems. Second, a novel fully distributed sliding mode control (FDSMC) strategy is proposed to attenuate the disturbances. Meanwhile, the leader‐following consensus and the nearly optimization of the energy‐cost function for the multi‐AUV system can be achieved simultaneously through the designed optimal nominal control protocol. Moreover, the proposed control strategy has more mild constraints on the communication topologies. Finally, the effectiveness of the proposed FDSMC strategy is verified by numerical simulation studies.
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受不确定干扰影响的多自主水下航行器的鲁棒优化跟踪控制
本文探讨了受不确定外部干扰影响的多自主水下航行器(AUV)的鲁棒性优化跟踪控制问题。首先,利用基于高木-菅野(Takagi-Sugeno,T-S)模糊技术将高阶非线性多自主潜航器系统转换为一系列线性化子系统。其次,提出了一种新颖的全分布式滑模控制(FDSMC)策略来减弱干扰。同时,通过设计的最优标称控制协议,可同时实现多无人飞行器系统的领导-跟随共识和能量成本函数的近乎最优化。此外,所提出的控制策略对通信拓扑的约束更为温和。最后,通过数值模拟研究验证了所提出的 FDSMC 策略的有效性。
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