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Article information
2018 , Volume 23, ¹ 2, p.3-19
Bychkov I.V., Davydov A.V., Nagul N.V., Ulyanov S.A.
Event-based approach to multimode control of multi-AUV systems in a surveillance mission
The aim of the work is to develop a new approach, which includes a combination of original methods and algorithms, to build a multilevel control system for a group of autonomous underwater vehicles (AUV), which ensures non-stop performance of a complex mission to survey the near-bottom region. We propose a methodology, in which, considering the mission and the specific features of the underwater environment, a complex behavior of the group is divided into a set of elementary behaviors (operation modes), for which the following problems should be solved: path-following problem, formation control problem and the problem of cooperative avoidance of obstacles. Switching between modes occurs according to events that occur as a result of changing the model of the external environment and the current state of the group, and are implemented by the subsystem (DES). Lowlevel controllers tracking the required elementary behaviors of the group are designed with the help of the vector Lyapunov function technique which accounts sampled-data implementation of the exploited control schemes, measurement errors, uncertainties of AUV model’s parameters, and constraints on control actions. To construct a distributed DES-based upper-level controller we employ the theory of supervised control of DES. Some results of numerical computations and simulations for a group of identical large-sized AUVs are presented to demonstrate the operability of the proposed approach. Event-based cooperative control systems designed by the approach provide the level of intellectuality and sustainability of the group required to perform complex non-stop missions in real underwater conditions.
[full text]
Keywords: underwater vehicle, formation control, vector Lyapunov function, discreteevent system
doi: 10.25743/ICT.2018.23.12755
Author(s):
Bychkov Igor Vyacheslavovich
Dr. , Academician RAS, Professor
Position: Director
Office: Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences
Address: 664033, Russia, Irkutsk, Lermontova st., 134
Phone Office: (3952) 45-30-61
E-mail: idstu@icc.ru
SPIN-code: 5816-7451Davydov Artem Vasilyevich
Position: Research Scientist
Office: Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences
Address: 664033, Russia, Irkutsk, Lermontova st., 134
Phone Office: (3952)453085
E-mail: artem@icc.ru
SPIN-code: 9827-5805Nagul Nadezhda Vladimirovna
PhD. , Senior Scientist
Position: Senior Research Scientist
Office: Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences
Address: 664033, Russia, Irkutsk, Lermontova st., 134
Phone Office: (3952)453085
E-mail: sapling@icc.ru
SPIN-code: 9851-3181Ulyanov Sergey Aleksandrovich
PhD. , Senior Scientist
Position: Senior Research Scientist
Office: Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences
Address: 664033, Russia, Irkutsk, Lermontova st., 134
Phone Office: (3952)453085
E-mail: sau@icc.ru
SPIN-code: 1049-2696 References:
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Bibliography link:
Bychkov I.V., Davydov A.V., Nagul N.V., Ulyanov S.A. Event-based approach to multimode control of multi-AUV systems in a surveillance mission // Computational technologies. 2018. V. 23. ¹ 2. P. 3-19
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