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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Veröffentlicht in:	Ocean engineering Jg. 304; S. 117906
Hauptverfasser:	Xu, Jian, Wei, Shunxing, Yin, Liangang
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 15.07.2024
Schlagworte:	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-Zugang:	Volltext
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