Mean-Square Bounded Consensus for Multiple Underwater Biomimetic Vehicle-Manipulators with Packet Losses and Additive Noise

With the wide application of Underwater Biomimetic Vehicle-manipulator System (UBVM) in the fields of marine sampling, deep-sea exploration and so on, how to improve the operation efficiency and cooperation ability of multi UBVM system has become a research hotspot. Due to the complexity of underwater operation environment and the limitations of underwater acoustic communication, the cooperative control between multiple UBVMs faces many challenges, such as packet loss, process noise and so on. This paper studies the consensus control problem of continuous time multiple UBVMs with packet loss and process noise in the process of information communication. Firstly, the nonlinear coupling model of UBVM is linearized by feedback linearization method, which enhances the feasibility and effectiveness of controller design. Secondly, Kalman filter theory is used to estimate the state information of UBVM, which can effectively filter out the influence of packet loss and process noise in the measurement data. Based on this, a distributed controller based on state information is designed, which can optimize and adjust the local control system of each UBVM in real time, and improve the response speed and overall performance of the multi UBVM system. Finally, the consensus error of the system is proved by Lyapunov equation.