Coordinated Target Tracking Strategy for Multiple Unmanned Underwater Vehicles With Time Delays | Zendy

Zheping Yan | Zendy; Xiangling Liu | Zendy; Jiajia Zhou | Zendy; Di Wu | Zendy

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Coordinated Target Tracking Strategy for Multiple Unmanned Underwater Vehicles With Time Delays

Author(s) -

Zheping Yan,

Xiangling Liu,

Jiajia Zhou,

Di Wu

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2793338

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

Focusing on coordination and consensus, this paper, addresses a control problem for a group of unmanned underwater vehicles (UUVs) by tracking a maneuvering target with varying velocity and time delays. To realize coordinated target tracking, consensus control of multiple UUVs requires neighboring UUV state information, detected target state information, and estimated target acceleration information. At least one UUV is assumed to be capable of obtaining information about the target, and the communication topology graph of the vehicle is assumed to be undirected connected. We consider the convergence analysis of this multi-UUV system for two conditions: information interaction between the target and an UUV with time delays and information interaction between the target and an UUV without time delays. Sufficient conditions for the uniform ultimate boundedness of the tracking errors and estimation errors are obtained by utilizing a Lyapnov-Krasovskii functional. Two simulations are presented to demonstrate the effectiveness of the proposed method.

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