.png){kind=icon}
返回
Consensus Formation Tracking for Multiple AUV Systems Using Distributed Bioinspired Sliding Mode Control
.png){kind=icon}
OA
AI
DOI：10.1109/TIV.2022.3175647.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is proposed in this paper. First, the conventional sliding mode controller (SMC) is presented, and the consensus problem is addressed on the basis of graph theory. Next, to tackle the high frequency chattering issue in SMC scheme and meanwhile improve the robustness to the noises, a bioinspired approach is introduced, in which a neural dynamic model is employed to replace the nonlinear sign or saturation function in the synthesis of conventional sliding mode controllers. Furthermore, the input-to-state stability of the resulting closed-loop system is proved in the presence of bounded lumped disturbance by the Lyapunov stability theory. Finally, simulation experiments are conducted to demonstrate the effectiveness of the proposed distributed formation control protocol.
Keyword:
Bioinspired approach
consensus formation tracking
distributed sliding mode control
graph theory
multiple AUVs
期刊
I
IF:
14.3
论文数:
1.3K
被引数:
1.2W
机构
引用论文
.png){kind=icon}
Structural and kinetic effects of chloride ions in the palladium-catalyzed allylic substitutions
PREAI
分享收藏A Bioinspired Neurodynamics-Based Approach to Tracking Control of Mobile Robots基于生物启发神经动力学的移动机器人跟踪控制方法OAAI
OAAI分享收藏
查看更多内容