{"title":"多auv系统的动态事件触发leader-follow共识算法","authors":"Yicong Tong, Jianming Miao, Yanyun Wang","doi":"10.1109/ICUS55513.2022.9987019","DOIUrl":null,"url":null,"abstract":"A dynamic event-triggered leader-following consensus algorithm is proposed for a multi autonomous underwater vehicle (AUV) system. The nonlinear AUV models are simplified through standard feedback linearization process. For both communication layer and controller layer, the dynamic state-dependent event-triggered technique is used to save AUV's limited communication resources, respectively. Stability analysis is accomplished through Lyapunov method and Zeno behavior is excluded. Numerical simulation illustrates the effectiveness of the proposed algorithm.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A dynamic event-triggered leader-following consensus algorithm for multi-AUVs system\",\"authors\":\"Yicong Tong, Jianming Miao, Yanyun Wang\",\"doi\":\"10.1109/ICUS55513.2022.9987019\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A dynamic event-triggered leader-following consensus algorithm is proposed for a multi autonomous underwater vehicle (AUV) system. The nonlinear AUV models are simplified through standard feedback linearization process. For both communication layer and controller layer, the dynamic state-dependent event-triggered technique is used to save AUV's limited communication resources, respectively. Stability analysis is accomplished through Lyapunov method and Zeno behavior is excluded. Numerical simulation illustrates the effectiveness of the proposed algorithm.\",\"PeriodicalId\":345773,\"journal\":{\"name\":\"2022 IEEE International Conference on Unmanned Systems (ICUS)\",\"volume\":\"77 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE International Conference on Unmanned Systems (ICUS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICUS55513.2022.9987019\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Unmanned Systems (ICUS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICUS55513.2022.9987019","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A dynamic event-triggered leader-following consensus algorithm for multi-AUVs system
A dynamic event-triggered leader-following consensus algorithm is proposed for a multi autonomous underwater vehicle (AUV) system. The nonlinear AUV models are simplified through standard feedback linearization process. For both communication layer and controller layer, the dynamic state-dependent event-triggered technique is used to save AUV's limited communication resources, respectively. Stability analysis is accomplished through Lyapunov method and Zeno behavior is excluded. Numerical simulation illustrates the effectiveness of the proposed algorithm.
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