Convergence Analysis on Multi-AUV Systems With Leader-Follower Architecture
In multi-autonomous underwater vehicle (multi-AUV) systems, the convergence rate is
characterized by the pace of consistency of the key state information for each member. The topology with
leaderfollower architecture is designed as a combination of an undirected graph between followers and
a digraph between leaders and followers. An overview of in uences on convergence rate of the second-order consensus algorithm is elaborated in three aspects, along with the main contributions in this paper.
Speci cally, the explicit expression of the maximum convergence rate is established based on the root locus
method, and then, the effects of control parameters on the convergence rate are analyzed. Moreover, the
in uences of network topologies on the convergence rate are investigated from the view of adjusting the
existing connectivity, changing the weights on links, and utilizing hierarchical structure. The combination
of consensus and ltering algorithm is also an approach to enhance the capacity of multi-AUV systems.
In order to eliminate the accumulated errors in the process of dead reckoning, a collaborative navigation
model is presented, and then, a localization approach based on consensus-unscented particle lter algorithm
is proposed. Simulations results are provided to verify location performance under the assumption of
Gaussian white noise in the systems. In addition, the in uences of the topologies on positioning accuracy
are explored.
KeyWords
Multi-AUV systems, network topology, second-order consensus algorithm, convergence
rate, consensus-UPF algorithm.
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