The research of coordination control on distributed multi-agent
- Resource Type
- Conference
- Authors
- Tao, Mo; Li, Xianling; Guan, Xiawei; Liu, Zhi; Feng, Yi; Qu, Ruotong
- Source
- 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC) Automation (YAC), 2018 33rd Youth Academic Annual Conference of Chinese Association of. :328-333 May, 2018
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Mathematical model
Interference
Navigation
Collaboration
Tracking
Kinematics
Task analysis
UUV formation
Multi-Agent
Coordinated control
Leader-follower
Anti-step
- Language
Coordination control of multi UUV (unmanned underwater vehicle) navigation is a research focus in the field of Marine engineering. In this paper, the UUV formation control method combining the idea of path reference point and leader-follower formation control algorithm is proposed. The formation controller is designed by using the anti-step method and Lyapunov function. The simulation result shows that both the leader and follower UUV can track the expectation path, and the designed controller has robustness under current interference.