Multi-AUV Formation Predictive Control Based on CNN-LSTM under Communication Constraints Article Swipe
Juan Li
,
Zhenyang Tian
,
Gengshi Zhang
,
Wenbo Li
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/jmse11040873
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/jmse11040873
For the problem of hydroacoustic communication constraints in multi-AUV leader follower formation, this paper designs a formation control method combining CNN-LSTM prediction and backstepping sliding mode control. First, a feedback linearization method is used to transform the AUV nonlinear model into a second-order integral model; then, the influence of hydroacoustic communication constraints on the multi-AUV formation control problem is analyzed, and a sliding window-based formation prediction control strategy is designed; for the characteristics of AUV motion trajectory with certain temporal order, the CNN-LSTM prediction model is selected to predict the trajectory state of the leader follower and compensate the effect of communication delay on formation control, and combine the backstepping method and sliding mode control to design the formation controller. Finally, the simulation experimental results show that the proposed CNN-LSTM prediction and backstepping sliding mode control can improve the effect of hydroacoustic communication constraints on formation control.
Related Topics
Concepts
Backstepping
Control theory (sociology)
Trajectory
Linearization
Computer science
Controller (irrigation)
Sliding mode control
Nonlinear system
Mode (computer interface)
Feedback linearization
Control engineering
Control (management)
Model predictive control
Underactuation
Artificial intelligence
Engineering
Adaptive control
Agronomy
Quantum mechanics
Astronomy
Physics
Biology
Operating system
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/jmse11040873
- https://www.mdpi.com/2077-1312/11/4/873/pdf?version=1682044384
- OA Status
- gold
- Cited By
- 9
- References
- 18
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4366773082
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4366773082Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/jmse11040873Digital Object Identifier
- Title
-
Multi-AUV Formation Predictive Control Based on CNN-LSTM under Communication ConstraintsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-04-20Full publication date if available
- Authors
-
Juan Li, Zhenyang Tian, Gengshi Zhang, Wenbo LiList of authors in order
- Landing page
-
https://doi.org/10.3390/jmse11040873Publisher landing page
- PDF URL
-
https://www.mdpi.com/2077-1312/11/4/873/pdf?version=1682044384Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2077-1312/11/4/873/pdf?version=1682044384Direct OA link when available
- Concepts
-
Backstepping, Control theory (sociology), Trajectory, Linearization, Computer science, Controller (irrigation), Sliding mode control, Nonlinear system, Mode (computer interface), Feedback linearization, Control engineering, Control (management), Model predictive control, Underactuation, Artificial intelligence, Engineering, Adaptive control, Agronomy, Quantum mechanics, Astronomy, Physics, Biology, Operating systemTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
9Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 5, 2023: 3Per-year citation counts (last 5 years)
- References (count)
-
18Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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