Distributed synchronization of autonomous underwater vehicles with memorized protocol

International Journal of Advanced Robotic Systems

ChaoMa¹ 

关键词: Autonomous underwater vehicles;    sampled-data control;    distributed synchronization;    memorized protocol;    Lyapunov–Krasovskii functional method;   

DOI  :  10.1177/1729881419844149

学科分类：自动化工程

来源: InTech

【 摘 要 】

This article investigates the distributed synchronization problem of autonomous underwater vehicles by developing a novel synchronization protocol with memorized controller. More precisely, the memory information for information exchanges of autonomous underwater vehicles is utilized such that the synchronization performance can be improved. By employing the Lyapunov–Krasovskii functional method with model transformation, sufficient criteria are established for guaranteeing the synchronization, and the corresponding distributed synchronization controllers are designed based on matrix techniques. Finally, the effectiveness and benefits of our theoretical method are supported by an illustrative example with simulation results.

【 授权许可】

CC BY