Limited Communication Consensus Control in Multi-UUVs Swarm System Under Switching Topologies and Time Delay

摘要

Multiple unmanned underwater vehicles (multi-UUVs) in the swarm can effectively carry out a task when they are successfully exchanging information among themselves in the ocean, so the paper mainly investigates the limited communication consensus control problem for the multi-UUVs swarm systems. The paper proposes a hybrid structure of the multi-UUVVs swarm. The multi-UUVs swarm system will be divided into many sub-groups in where it will be composed of one leader and many followings of UUVs, meanwhile, all leaders in the sub-groups will constitute a leaders-group. Two suitable Lyapunov-Krasovskii functional candidates will be given to obtain sufficient consensus conditions and multiple randomly varying leader-following consensus stability criterion for Markovian switching swarm system. Then the swarm system will be proved to be stochastically stable. Finally, a numerical example is shown to demonstrate the effectiveness of the discussed methods.