Abstract
Concerning the issue of the formation control of the unmanned underwater vehicle (UUV). This thesis has done research on the algorithms of the Consistency Control under the Condition of Time-lag of Isomerism AUV Group Communication. Firstly, this thesis has done research on formation consistency control devices based on the idea of leading and following, under the condition of fixed topology. Under the connected condition of communication topology, the sufficient and necessary condition of consistency has been demonstrated. Based on Riccati equation, the methodology of the gain matrix of control protocols design has been illustrated in this thesis. On these bases, research on the design of the formation consistency control devices under the condition of communication delay of AUV has been carried out. The sufficient and adequate condition for the realization of AUV formation consistency has been discovered through the method of the consistency analysis and linear matrix inequality. Consequently, a stimulation experiments has been designed for the purpose of verification of the effectiveness and stability of the control algorithm mentioned in this thesis.
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Ye, F., Fang, H., Zhou, H. (2023). The Research of the Consistency Control Under the Condition of Time-Lag of Isomerism AUV Group Communication. In: Pan, L., Zhao, D., Li, L., Lin, J. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2022. Communications in Computer and Information Science, vol 1801. Springer, Singapore. https://doi.org/10.1007/978-981-99-1549-1_40
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DOI: https://doi.org/10.1007/978-981-99-1549-1_40
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