Skip to main content
Springer Nature Link
Log in

A Formation Control Method of AUV Group Combining Consensus Theory and Leader-Follower Method Under Communication Delay

  • Conference paper
  • First Online:
Bio-Inspired Computing: Theories and Applications (BIC-TA 2021)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1566))

  • 704 Accesses

Abstract

A consistency control algorithm for AUV(Autonomous Underwater Vehicle) group combining with the leader-follower approach under communication delay is proposed. Firstly, the graph theory is used to describe the communication topology of AUV group. Specially, a hybrid communication topology is introduced to adapt to large formation control. Secondly, the distributed control law is constructed by combining consensus theory with leader-following method. Two consistency control algorithms for AUV group based on leader-follower approach with and without communication delay are proposed. Stability criteria are established to guarantee the consensus based on Gershgorin disk theorem and Nyquist law, respectively. Finally, the simulation experiment is carried out to show the effectiveness of the proposed algorithms.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Sánchez, P.J.B., Papaelias, M., Márquez, F.P.G.: Autonomous underwater vehicles: instrumentation and measurements. IEEE Instrum. Meas. Mag. 23(2), 105–114 (2020)

    Article  Google Scholar 

  2. Connor, J., Champion, B., Joordens, M.A.: Current algorithms, communication methods and designs for underwater swarm robotics: a review. IEEE Sens. J. 21(1), 153–169 (2020)

    Article  Google Scholar 

  3. Hadi, B., Khosravi, A., Sarhadi, P.: A review of the path planning and formation control for multiple autonomous underwater vehicles. J. Intell. Robot. Syst. 101(4), 1–26 (2021)

    Article  Google Scholar 

  4. Park, D., Li, J.H., Ki, H., Kang, H., Kim, M.G., Suh, J.H.: Selective AUV guidance scheme for structured environment navigation. In: OCEANS 2019-Marseille, pp. 1–5. IEEE (2019)

    Google Scholar 

  5. Yu, C., Xiang, X., Zuo, M., Xu, G.: Robust variable-depth path following of an under-actuated autonomous underwater vehicle with uncertainties (2017)

    Google Scholar 

  6. Xinjing, H., Yibo, L., Fei, D., Shijiu, J.: Horizontal path following for underactuated AUV based on dynamic circle guidance. Robotica 35(4), 876–891 (2017)

    Article  Google Scholar 

  7. Heshmati-Alamdari, S., Bechlioulis, C.P., Karras, G.C., Kyriakopoulos, K.J.: Cooperative impedance control for multiple underwater vehicle manipulator systems under lean communication. IEEE J. Oceanic Eng. 46(2), 447–465 (2020)

    Article  Google Scholar 

  8. Zhang, W., Zeng, J., Yan, Z., Wei, S., Tian, W.: Leader-following consensus of discrete-time multi-AUV recovery system with time-varying delay. Ocean Eng. 219, 108258 (2021)

    Google Scholar 

  9. Wang, J., Wang, C., Wei, Y., Zhang, C.: Neuroadaptive sliding mode formation control of autonomous underwater vehicles with uncertain dynamics. IEEE Syst. J. 14(3), 3325–3333 (2019)

    Article  Google Scholar 

  10. Renjie, F., Xin, W., Zhenlong, X., Rongfu, L., Xiaodi, L., Xiaotian, C.: Underwater robot formation control based on leader-follower model. In: 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 98–103. IEEE (2020)

    Google Scholar 

  11. Bechlioulis, C.P., Giagkas, F., Karras, G.C., Kyriakopoulos, K.J.: Robust formation control for multiple underwater vehicles. Front. Robot. AI 6, 90 (2019)

    Google Scholar 

  12. Chen, G., Shen, Y., Qu, N., He, B.: Path planning of AUV during diving process based on behavioral decision-making. Ocean Eng. 234, 109073 (2021)

    Google Scholar 

  13. He, B., Ren, H., Kan, W.: Design and simulation of behavior-based reactive decision-making control system for autonomous underwater vehicle. In: 2010 2nd International Conference on Advanced Computer Control, vol. 5, pp. 647–651. IEEE (2010)

    Google Scholar 

  14. Zhang, L.C., Wang, J., Wang, T., Liu, M., Gao, J.: Optimal formation of multiple AUVs cooperative localization based on virtual structure. In: OCEANS 2016 MTS/IEEE Monterey, pp. 1–6. IEEE (2016)

    Google Scholar 

  15. Xia, G., Zhang, Y., Zhang, W., Chen, X., Yang, H.: Multi-time-scale 3-D coordinated formation control for multi-underactuated AUV with uncertainties: design and stability analysis using singular perturbation methods. Ocean Eng. 230, 109053 (2021)

    Google Scholar 

  16. Qin, H., Chen, H., Sun, Y.: Distributed finite-time fault-tolerant containment control for multiple ocean bottom flying nodes. J. Franklin Inst. 357(16), 11242–11264 (2020)

    Article  MathSciNet  Google Scholar 

  17. Zhang, W., Zeng, J., Yan, Z., Wei, S., Zhang, J., Yang, Z.: Consensus control of multiple AUVs recovery system under switching topologies and time delays. IEEE Access 7, 119965–119980 (2019)

    Google Scholar 

  18. Yang, Y., Xiao, Y., Li, T.: A survey of autonomous underwater vehicle formation: performance, formation control, and communication capability. IEEE Commun. Surv. Tutor. 23(2), 815–841 (2021)

    Google Scholar 

  19. Xia, G., Zhang, Y., Yang, Y.: Control method of multi-AUV circular formation combining consensus theory and artificial potential field method. In: 2020 Chinese Control and Decision Conference (CCDC), pp. 3055–3061. IEEE (2020)

    Google Scholar 

  20. Filaretov, V., Yukhimets, D.: The method of path planning for AUV-group moving in desired formation in unknown environment with obstacles. IFAC-PapersOnLine 53(2), 14650–14655 (2020)

    Google Scholar 

  21. Xia, G., Zhang, Y., Zhang, W., Chen, X., Yang, H.: Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three dimensional space. Ocean Eng. 233, 108903 (2021)

    Google Scholar 

  22. Yuan, C., Licht, S., He, H.: Formation learning control of multiple autonomous underwater vehicles with heterogeneous nonlinear uncertain dynamics. IEEE Trans. Cybern. 48(10), 2920–2934 (2017)

    Google Scholar 

  23. Liu, Y., Nicolescu, R., Sun, J.: An efficient labelled nested multiset unification algorithm. J. Membr. Comput. 3(3), 194–204 (2021). https://doi.org/10.1007/s41965-021-00076-0

Download references

Author information

Authors and Affiliations

  1. School of Automation, Wuhan University of Technology, Wuhan, 430070, China

    Xuan Guo, Yuepeng Chen, Guangyu Luo & Guangwu Liu

Authors
  1. Xuan Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yuepeng Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Guangyu Luo
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Guangwu Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yuepeng Chen .

Editor information

Editors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, China

    Linqiang Pan

  2. Taiyuan University of Science and Technology, Taiyuan, China

    Zhihua Cui

  3. Taiyuan University of Science and Technology, Taiyuan, China

    Jianghui Cai

  4. Huazhong University of Science and Technology, Wuhan, China

    Lianghao Li

Rights and permissions

Reprints and permissions

Copyright information

© 2022 Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Guo, X., Chen, Y., Luo, G., Liu, G. (2022). A Formation Control Method of AUV Group Combining Consensus Theory and Leader-Follower Method Under Communication Delay. In: Pan, L., Cui, Z., Cai, J., Li, L. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2021. Communications in Computer and Information Science, vol 1566. Springer, Singapore. https://doi.org/10.1007/978-981-19-1253-5_12

Download citation

  • DOI: https://doi.org/10.1007/978-981-19-1253-5_12

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-1252-8

  • Online ISBN: 978-981-19-1253-5

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation