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Volume 10 Issue 5
May  2023

IEEE/CAA Journal of Automatica Sinica

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Article Contents
L. L. Wang, D. Q. Zhu, W. Pang, and  C. M. Luo,  “A novel obstacle avoidance consensus control for multi-AUV formation system,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 5, pp. 1304–1318, May 2023. doi: 10.1109/JAS.2023.123201
Citation: L. L. Wang, D. Q. Zhu, W. Pang, and  C. M. Luo,  “A novel obstacle avoidance consensus control for multi-AUV formation system,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 5, pp. 1304–1318, May 2023. doi: 10.1109/JAS.2023.123201

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

doi: 10.1109/JAS.2023.123201
Funds:  This work was supported in part by the National Natural Science Foundation of China (62033009), the Creative Activity Plan for Science and Technology Commission of Shanghai (20510712300, 21DZ2293500), and the Supported by Science Foundation of Donghai Laboratory
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  • 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.


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    • The settling time under any initial conditions is ensured by the proposed fixed-time consensus protocol for the multi-AUV formation system. And, the maximum value of the formation convergence time depends on the controller design parameters
    • An event-triggered communication strategy is developed to communicate among AUVs, whereas reducing the energy consumption of communication in the multi-AUV formation system
    • The traditional APF method is improved to solve the dynamic and static obstacle avoidance problem of multi-AUV formation in 3D complex environments under current interference


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