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Bio-inspired self-organized cooperative control consensus for crowded UUV swarm based on adaptive dynamic interaction topology.

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Title: Bio-inspired self-organized cooperative control consensus for crowded UUV swarm based on adaptive dynamic interaction topology.
Authors: Liang, Hongtao1 (AUTHOR) lianghongtao.789@163.com, Fu, Yanfang2 (AUTHOR), Gao, Jie1 (AUTHOR)
Source: Applied Intelligence. Jul2021, Vol. 51 Issue 7, p4664-4681. 18p.
Subjects: Remote submersibles, Adaptive computing systems, Distributed algorithms, Cooperative societies, Topology
Abstract: Cooperative control is currently a challenging topic of crowded unmanned underwater vehicle (UUV) swarm. However, individual behavior conflict and chain-avalanche collision involved in this swarm are easily triggered due to the fluctuations and disturbances. In order to address the two problems, a bio-inspired self-organized cooperative control consensus derived from adaptive dynamic interaction topology is investigated in this paper. Firstly, a novel following-interaction framework incorporating the topological interaction and visual interaction is devised to ensure the minimum number and optimal distribution for neighborhoods. Then, an adaptive dynamic computing model inspired by single-nearest-neighbor following and weighted- multiple-nearest-neighbors following is proposed to steer a sensitive following behavior, in which the influence of each individual on this following behavior is described by a nonlinear weight. Finally, a distributed control protocol is put forward by using the proposed following model and mathematics-based potential fields to achieve the cohesive flocking and avoiding collision, and its sufficient conditions is proven by Laypunov and LaSalle invariance principle to accomplish a self- organized cooperative control. Simulation results are presented for illustrating the feasibility and effectiveness of our proposed control approach. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:Cooperative control is currently a challenging topic of crowded unmanned underwater vehicle (UUV) swarm. However, individual behavior conflict and chain-avalanche collision involved in this swarm are easily triggered due to the fluctuations and disturbances. In order to address the two problems, a bio-inspired self-organized cooperative control consensus derived from adaptive dynamic interaction topology is investigated in this paper. Firstly, a novel following-interaction framework incorporating the topological interaction and visual interaction is devised to ensure the minimum number and optimal distribution for neighborhoods. Then, an adaptive dynamic computing model inspired by single-nearest-neighbor following and weighted- multiple-nearest-neighbors following is proposed to steer a sensitive following behavior, in which the influence of each individual on this following behavior is described by a nonlinear weight. Finally, a distributed control protocol is put forward by using the proposed following model and mathematics-based potential fields to achieve the cohesive flocking and avoiding collision, and its sufficient conditions is proven by Laypunov and LaSalle invariance principle to accomplish a self- organized cooperative control. Simulation results are presented for illustrating the feasibility and effectiveness of our proposed control approach. [ABSTRACT FROM AUTHOR]
ISSN:0924669X
DOI:10.1007/s10489-020-02104-5