Optimal Control Applications and Methods

Volume 46, Issue 4 pp. 1449-1458

RESEARCH ARTICLE

Cooperative Tracking Control of Multiple Autonomous Underwater Vehicles With Markovian Jumping Switching Topologies and Communication Delays

Junyi Wang,

Junyi Wang

orcid.org/0000-0002-3792-3920

Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China

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Yufeng Fan,

Yufeng Fan

College of Information Science and Engineering, Northeastern University, Shenyang, China

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Hongli Xu,

Corresponding Author

Hongli Xu

[email protected]

Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China

Correspondence: Hongli Xu ([email protected])

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Chenglong Xu,

Chenglong Xu

College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China

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Qiuxia Qu,

Qiuxia Qu

School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, China

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Junyi Wang,

Junyi Wang

orcid.org/0000-0002-3792-3920

Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China

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Yufeng Fan,

Yufeng Fan

College of Information Science and Engineering, Northeastern University, Shenyang, China

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Hongli Xu,

Corresponding Author

Hongli Xu

[email protected]

Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China

Correspondence: Hongli Xu ([email protected])

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Chenglong Xu,

Chenglong Xu

College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China

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Qiuxia Qu,

Qiuxia Qu

School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, China

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First published: 12 March 2025

https://doi.org/10.1002/oca.3272

Funding: This study was supported by National Natural Science Foundation of China; the Opening Foundation of State Key Laboratory of Robotics (2024-O23), and the Young and Middle-aged Science and Technology Innovation Talent of Shenyang (RC220485), and the Chunhui Plan Cooperative Project of Ministry of Education (HZKY20220424), and the Fundamental Research Funds for the Central Universities under Grant (N2426002), and the Applied Basic Research Project of Liaoning Province (2023021203-JH26/103), and Natural Science Foundation of Heilongjiang Province of China (LH2023F024).

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ABSTRACT

This paper addresses the cooperative tracking control of multiple autonomous underwater vehicles (multi-AUVs) under dynamic conditions, the cooperative tracking controllers are designed based on Markovian jumping switching topologies and mode-dependent time-varying communication delays. Firstly, the controllers that could achieve the position tracking of multi-AUVs are designed based on consensus theory and proportional derivative (PD) control method. Secondly, the sufficient conditions of error asymptotic stability of multi-AUVs are presented based on an appropriate Lyapunov-Krasovskii functional. The allowable upper bound of communication delay could be calculated based on linear matrix inequalities (LMIs). Finally, the simulation example is proposed to validate the effectiveness of the proposed methods.

Conflicts of Interest

The authors declare no conflicts of interest.

Open Research

Data Availability Statement

The data collected in this study are available from the corresponding author on reasonable request.

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Volume46, Issue4

July/August 2025

Pages 1449-1458

Cooperative Tracking Control of Multiple Autonomous Underwater Vehicles With Markovian Jumping Switching Topologies and Communication Delays

ABSTRACT

Conflicts of Interest

Open Research

Data Availability Statement

References

References

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Cooperative Tracking Control of Multiple Autonomous Underwater Vehicles With Markovian Jumping Switching Topologies and Communication Delays

ABSTRACT

Conflicts of Interest

Open Research

Data Availability Statement

References

References

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