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A Formation Control Method for AUV Group Under Communication Delay.

Yuepeng Chen1, Xuan Guo1, Guangyu Luo1

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Summary
This summary is machine-generated.

This study introduces a novel consistency control algorithm for autonomous underwater vehicle (AUV) groups, ensuring coordinated movement despite communication delays using a leader-follower approach.

Keywords:
communication delayconsistency algorithmgraph theoryheterogeneous AUV groupleader–follower

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Area of Science:

  • Robotics
  • Control Systems
  • Marine Engineering

Background:

  • Autonomous Underwater Vehicles (AUVs) require robust control for coordinated group operations.
  • Communication delays pose significant challenges in maintaining formation and consensus.
  • Existing control methods may not adequately address complex, large-scale AUV formations.

Purpose of the Study:

  • To develop a distributed consistency control algorithm for AUV groups under communication delay.
  • To adapt the algorithm for both homogeneous and heterogeneous AUV systems.
  • To validate the algorithm's effectiveness and stability in various scenarios.

Main Methods:

  • Modeling the six-degree-of-freedom (DoF) dynamics of AUVs.
  • Utilizing graph theory to represent AUV communication topologies, including hybrid approaches for large formations.
  • Combining consensus theory with the leader-follower strategy to design distributed control laws.
  • Establishing stability criteria using the Gershgorin disk theorem and Nyquist law.

Main Results:

  • Proposed novel consistency control algorithms for AUV groups accounting for communication delays.
  • Demonstrated the effectiveness of the leader-follower approach combined with consensus theory.
  • Validated stability through theoretical criteria and extensive simulations.
  • Showcased the algorithm's superiority in maintaining AUV group consistency.

Conclusions:

  • The developed distributed control algorithm effectively manages AUV group consistency under communication delays.
  • The leader-follower approach, integrated with consensus theory, provides a robust solution for AUV formation control.
  • The proposed stability criteria ensure reliable performance for both homogeneous and heterogeneous AUV systems.