The leaderless multi-AUV system fault-tolerant consensus strategy under heterogeneous communication topology

• Published in: Ocean engineering Vol. 237; p. 109594
• Main Authors: Lin, Xiaogong, Tian, Weida, Zhang, Wei, Zeng, Jia, Zhang, Chao
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.10.2021
• Subjects: Actuator breakdown; Fault-tolerant consensus; Heterogeneous digraph; The leaderless multi-AUV systems; The leaderless multi-AUV systems; Heterogeneous digraph; Fault-tolerant consensus; Actuator breakdown
• ISSN: 0029-8018; 1873-5258
• DOI: 10.1016/j.oceaneng.2021.109594

In this article, a fault-tolerant consensus control strategy of the leaderless second-order multi-AUV systems, which is partial actuator breakdown, is considered. Based on the linear feedback method, the model of AUV could be linearized. The communication graph is any strongly connected heterogeneous digraph, and the effectiveness of the actuator can be obtained by a physical device or analysis algorithm. The fault-tolerant consensus control strategy is proposed. The fault-tolerant multi-AUV systems’ astringency and stability are proved by Lyapunov functional. A numerical simulation example reveals the effectiveness of the FTCC protocol method. •A Fault-tolerant consensus strategy of multi-AUV system is proposed.•The leaderless multi-AUV FTCC protocol, which applies the relative state of the topology graph instead of the global.•FTCC strategy for leaderless multi-AUV systems over the directed heterogeneous communication topology.•Fault-tolerant consensus of multi-AUV stability criteria are established.•Numerical simulations of multi-AUV system with partial actuator breakdown are performed.