Optimal design of consensus for autonomous underwater vehicles with damping term using a directed spanning tree
Jiajia Zhou, Dingqi Ye, Simon X. Yang, Xiangling Liu · OCEANS 2016 - Shanghai · 2016
This paper presents an optimal design of consensus for multi-agent systems with damping term using a directed spanning tree. Compared with the undirected connected topology, the choice of Lyapunov function can be more complicated. Concerning about the directed spanning tree, the consensus of multi-agent systems is guaranteed by analyzing the eigenstructure of the system matrix. Being different from previous researches, the damping term is taken into consideration and the velocity dynamics is formed. Furthermore, it is derived that the consensus value is related with its parameter. Finally, simulations are carried out with simplified heading control systems of autonomous underwater vehicles (AUVs), which show the effectiveness of the proposed optimal design method.