Event-triggered-based Fault-tolerant Consensus for AUVs on Heterogeneous Switch Topology
- Resource Type
- Conference
- Authors
- Tian, Weida; Zhang, Chao; Lin, Xiaogong; Zhang, Yu; Zhang, Wei; Zhang, Kaihang
- Source
- OCEANS 2022, Hampton Roads OCEANS Hampton Roads, 2022. :1-6 Oct, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Geoscience
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Couplings
Actuators
Fault tolerance
Adaptive systems
Network topology
Fault tolerant systems
Switches
leaderless AUVs
heterogeneous switch topology
event-triggered mechanism
fault-tolerant consensus
- Language
This paper has designed a distributed leaderless multi-AUV system’s adaptive event-triggered fault-tolerant consensus control protocol. The system communication network is on the heterogeneous switch topology, and AUV’s actuators have multiplicative faults. The actuator fault degree can not be equal in each AUV. This article introduces adaptive parameters in the trigger function to improve the self-regulation capability of the event-triggered mechanism system. The fully distributed event-triggered fault-tolerant consensus strategy depends on the adaptive coupling gain that can eliminate the global information influence in the multi-AUV system. The designed event-triggered controller has good work on actuator multiplicative fault. The states of the multi-AUV system could converge to zero without Zeno behaviour. Finally, the Lyapunov functional method proves the system’s stability, and the numerical simulation presents the strategy’s effectiveness.