A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System

• Published in: IEEE/CAA journal of automatica sinica Vol. 10; no. 5; pp. 1304 - 1318
• Main Authors: Wang, Linling, Zhu, Daqi, Pang, Wen, Luo, Chaomin
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.05.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Shanghai Engineering Research Center of Intelligent Maritime Search&Rescue and Underwater Vehicles,Shanghai Maritime University,Shanghai 201306,China%School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China%Department of Electrical and Computer Engineering,Mississippi State University,Mississippi State,MS 39762 USA
• Subjects: Algorithms; Autonomous underwater vehicle (AUV); Behavioral sciences; Collision avoidance; Consensus control; Control systems; Control theory; Convergence; Energy consumption; event-triggered control; fixed-time consensus; formation obstacle avoidance; improved artificial potential field and leader-follower strategy (IAPF-LF); Liapunov functions; Multi-agent systems; Obstacle avoidance; Potential fields; Three-dimensional displays; Vehicle dynamics; Autonomous underwater vehicle(AUV); improved artificial potential field and leader-follower strategy(IAPF-LF); fixed-time consensus; formation obstacle avoidance; event-trig-gered control
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2023.123201

In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy (IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy. The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.