SUMMARYIn this paper, the k-valued logic control network is introduced to study the cooperative pursuit control problem of multiple underactuated underwater vehicles (UUVs) with time delay in three-dimensional space. The semi-tensor product of matrices is used to solve the complex calculation problem of the large dimension matrix. The influence of communication delay on multiple UUVs’ optimization and cooperative pursuit control is expressed in a matrix. Under the leadership of evader UUV, the control algorithm can ensure that all the pursuit UUVs reach the desired position. The stability of the closed loop system is proved.

中文翻译：

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三维空间多时滞欠驱动水下航行器协同跟踪控制

摘要在本文中，ķ引入-值逻辑控制网络，研究三维空间中具有时滞的多艘欠驱动水下航行器（UUV）的协同追踪控制问题。矩阵的半张量积用于解决大维矩阵的复杂计算问题。通信延迟对多个 UUV 优化和协同追踪控制的影响用矩阵表示。在躲避者UUV的带领下，控制算法可以保证所有的追击UUV都到达期望的位置。证明了闭环系统的稳定性。