Distributed optimal consensus with obstacle avoidance algorithm of mixed-order UAVs-USVs-UUVs systems

This article addresses the formation control with obstacle avoidance for a mixed-order linear multi-agent in the ocean environment via a distributed optimal control approach. The considered system is comprised of unmanned aerial vehicles (UAVs), unmanned surface vehicles (USVs) and unmanned underwater vehicles (UUVs). A consensus control law for horizontal direction and height direction is then designed uniformly, and the stability is ensured using block Kronecker product and matrix transformation theory. A linear quadratic regulator method is further designed to achieve distributed optimization. Moreover, for obstacle avoidance in the UUVs, a non-quadratic penalty function is constructed based on the seamount threat model by adopting an inverse optimal control approach. Simulation results confirm the efficiency of the consensus and obstacle avoidance.