Distributed Optimized Tracking Algorithms for an AUV Formation Application

摘要

This paper addresses the design problem of the distributed optimization algorithms for tracking targets over Wireless Sensor Networks through coordinative communication. To balance the tradeoff between tracking error and control power consumption, a performance index is established in advance. Then, the optimization algorithm is designed consisting of an error integrator term and a feedforward term which can eliminate the steady-state tracking error and compensate the disturbance effect respectively. Finally, the numerical simulation is performed. By applying the designed control in an Autonomous Underwater Vehicle leader-follower formation control system, the algorithms are validated effective, feasible, and easy to be implemented.