Research On Multi-AUVs Cooperative Formation Based On Event-Triggering Control Method

As an important tool for exploring and developing ocean resources,Autonomous Underwater Vehicle-AUV(AUV)has entered a period of rapid development with the continuous exploration and development of ocean resources.Multi-AUV systems can accomplish complex tasks through cooperative operation,so the research on multi-AUV cooperative control has certain practical application value.In this paper,the cooperative formation control of the multi-AUV system is studied further,and the current research hotspots and difficulties in the field of multi-AUV formation control are understood.Due to the instability of the AUV underwater acoustic communication channel,the multi-AUV system is easy to be in the bad condition of weak communication or even broken communication.Based on reality,this paper takes multiple underactuated AUVs as the research object and proposes an event-based distributed multi-AUV adaptive cooperative formation control strategy,aiming to enable multi-AUV systems to complete rigid formation tasks quickly and accurately based on effectively reducing information transmission,energy consumption,and control frequency.Because the flexible wing tasks broken communication condition,put forward a distributed multiple AUV based on the path following events trigger adaptive cooperative formation control strategy,aimed at can effectively reduce the frequency of information transmission and communication,based on the AUV system has stronger robustness and it can be finished after the communication recovery fast flexible formation task.Firstly,the definition of the coordinate system and the derivation of kinematics and dynamics equations were carried out,and the mathematical models of AUV with six degrees of freedom and three degrees of freedom were established,which laid a foundation for the subsequent establishment of cooperative formation error model and controller design.Second,design the control system of AUV events trigger state feedback control law and puts forward an improved deviation/integral dead zone event trigger function,and based on the Lyapunov stability theory event trigger system stability analysis,virtual simulation platform based on multiple AUV systems,verify the progress and effectiveness of the proposed formation control strategy.Then,considering the environmental adaptability of the controller,an improved adaptive particle swarm optimization algorithm is proposed to optimize the control parameters of the modified bias/integral dead zone event trigger.The simulation results show that the optimization algorithm is progressive and adaptable to the environment.Finally,a distributed multi-AUV event-triggered adaptive cooperative formation control strategy based on the path following is proposed based on the event-triggered control idea,formation method based on the path following,and particle swarm optimization algorithm.The robustness and progress of the formation control strategy are verified by simulation experiments.