混合式多智能体技术在UUV协调控制中的应用

无人水下机器人既表现了连续的动力特性，又表现了离散的动力特性，也就是我们平时所说的混杂特性。现提出了一个基于混杂理论的混合式智能体模型（UCAS），根据模型建立了多水下机器人的结构体系，并设计了一个简单案例说明该模型的应用。     

Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles(multi-AUVs) with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated.This is accomplished by first dividing the communication topology into two different switching parts,i.e.,velocity and position,to reduce the data capacity per data package sent between the multi-AUVs in the ocean.Then,the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model.Consequently,coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies.Considering these factors,sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov-Krasovskii theorem.Finally,simulation results that validate the theoretical results are presented.