Distributed synchronization of autonomous underwater vehicles with memorized protocol
[摘要] This article investigates the distributed synchronization problem of autonomous underwater vehicles by developing a novel synchronization protocol with memorized controller. More precisely, the memory information for information exchanges of autonomous underwater vehicles is utilized such that the synchronization performance can be improved. By employing the LyapunovâKrasovskii functional method with model transformation, sufficient criteria are established for guaranteeing the synchronization, and the corresponding distributed synchronization controllers are designed based on matrix techniques. Finally, the effectiveness and benefits of our theoretical method are supported by an illustrative example with simulation results.
[发布日期] [发布机构]
[效力级别] [学科分类] 自动化工程
[关键词] Autonomous underwater vehicles;sampled-data control;distributed synchronization;memorized protocol;LyapunovâKrasovskii functional method [时效性]