Communication topology for AUV formation consensus based on optimal cost control under time-varying communication and input delays

This study investigates the optimal communication topology for consensus in autonomous underwater vehicle (AUV) formations, considering both leader-following and leaderless scenarios. Initially, a second-order dynamic model of the AUV is established using the feedback linearization method. To addres...

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Bibliographic Details

Published in:	Ocean engineering Vol. 304; p. 117906
Main Authors:	Xu, Jian, Wei, Shunxing, Yin, Liangang
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 15.07.2024
Subjects:	Autonomous underwater vehicle Formation consensus Interaction cost Linear quadratic regulator Optimal communication topology Optimal communication topology Interaction cost Formation consensus Autonomous underwater vehicle Linear quadratic regulator
ISSN:	0029-8018, 1873-5258
Online Access:	Get full text
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