Cooperative Pursuit Control for Multiple Underactuated Underwater Vehicles with Time Delay in Three-Dimensional Space. Issue 6 (27th June 2021)

• Record Type: Journal Article
• Authors: Qi, Xue; Cai, Zhi-Jun
• Is Part Of: Robotica. Volume 39:Issue 6(2021)
• Page Start: 1101
• Page End: 1115
• Publication Date: 2021-06-27
• Subjects: Underactuated underwater vehicle, -- k-valued logic control networks, -- Coordinated control, -- Time delay, -- Pursuit control; 93C85, -- 93B51, -- 65P40; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574720000922
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: In this paper, the k -valued logic control network is introduced to study the cooperative pursuit control problem of multiple underactuated underwater vehicles (UUVs) with time delay in three-dimensional space. The semi-tensor product of matrices is used to solve the complex calculation problem of the large dimension matrix. The influence of communication delay on multiple UUVs' optimization and cooperative pursuit control is expressed in a matrix. Under the leadership of evader UUV, the control algorithm can ensure that all the pursuit UUVs reach the desired position. The stability of the closed loop system is proved.