The Distributed Adaptive Finite-Time Chattering Reduction Containment Control for Multiple Ocean Bottom Flying Nodes
- 93 Downloads
The ocean bottom flying node (OBFN) is a novel autonomous underwater vehicle (AUV) system which could explore the oil and gas resources in deep water. This paper investigates the distributed finite-time chattering reduction containment control problem for multiple OBFNs under directed communication topology. The model uncertainties and external disturbances are considered. By defining the containment error variables and selecting high-order sliding variable properly, a distributed finite-time containment control strategy is developed. The discontinuous sign function is contained in the derivative of the control protocol so as to eliminate the chattering phenomenon. An adaptive law is designed to make efficiency estimation and compensation for the upper bounds of model uncertainties and external disturbances. Combined with the graph theory and matrix theory, the Lyapunov method is utilized to demonstrate that the follower OBFNs could enter the convex hull formed by the leader OBFNs in finite time. Numerical simulation is provided to show the effectiveness of the proposed method.
KeywordsMultiple AUV systems OBFN systems Containment control Distributed control Chattering reduction Finite-time control
This work was supported by National Natural Science Foundation of China under Grant (Nos. U1713205 and 61803119).
- 5.Wang, N., Su, S., Han, M., Chen, W.: Backpropagating constraints-based trajectory tracking Control of a quadrotor with constrained actuator dynamics and complex unknowns. IEEE Trans. Syst. Man Cybern. Syst. pp. 1–16 (2018)Google Scholar
- 28.Sun, Y., Ma, G., Liu, M., Li, C.: Distributed finite-time coordinated control for multi-robot systems. Trans. Inst. Meas. Control. 40(9), 1–16 (2017)Google Scholar
- 33.Wang, N., Sun, Z., Su. S., Wang. Y.: Fuzzy uncertainty observer based path following control of underactuated marine vehicles with unmodelled dynamics and disturbances. In: International Conference on Fuzzy Theory and Its Applications, pp. 1–6 (2017)Google Scholar
- 39.Chen, L., Li, C., Sun, Y., Ma, G.: Distributed chattering reduction finite-time containment control for multiple Euler–Lagrange systems. J. Harbin Inst. Technol. 50(10), 49–56 (2018)Google Scholar