Fault-Tolerant Formation Control for Multiple Stochastic AUV System under Markovian Switching Topologies
نویسندگان
چکیده
Formation control, which is a core problem in multi-autonomous underwater vehicle (AUV) systems, plays an important role realizing safe and accurate cooperation of multi-AUV systems. This paper provides study on fault-tolerant formation control for multiple stochastic AUV systems under Markovian switching topologies. Considering the effect noise communication topology, novel leader-following group protocol with actuator fault system developed influence two independent processes. The designed controller proved by infinitesimal generator Lyapunov stability theory can guarantee that follower AUVs’ states will eventually converge to leader’s state each subgroup while forming desired sub-formation. Finally, effectiveness theoretical analysis verified simulation experiment.
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ژورنال
عنوان ژورنال: Journal of Marine Science and Engineering
سال: 2023
ISSN: ['2077-1312']
DOI: https://doi.org/10.3390/jmse11010159