Finite-Time Stability of Continuous Autonomous Systems
SIAM Journal on Control and Optimization
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Brief paper: Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics
Automatica (Journal of IFAC)
Finite-time convergent gradient flows with applications to network consensus
Automatica (Journal of IFAC)
Brief paper: Finite-time stability and instability of stochastic nonlinear systems
Automatica (Journal of IFAC)
Tracking control for multi-agent consensus with an active leader and variable topology
Automatica (Journal of IFAC)
Finite-time distributed consensus via binary control protocols
Automatica (Journal of IFAC)
On frame and orientation localization for relative sensing networks
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
In this paper, finite-time position consensus and collision avoidance problems are investigated for multi-AUV (autonomous underwater vehicle) systems. First, based on the homogeneous control method, finite-time position consensus algorithms are proposed for both leaderless and leader-follower multi-AUV systems without considering collisions between the AUVs. Specifically, in the leader-follower case, a novel distributed finite-time observer is developed for the followers to estimate the leader's velocity. Second, by constructing collision avoidance and connectivity maintenance functions, modified consensus algorithms containing corresponding gradient terms are presented for multi-AUV systems of both cases, which guarantee collision avoidance, connectivity maintenance, velocity matching, and consensus boundedness. Simulations demonstrate the effectiveness of the proposed control algorithms.