Formation Trajectory Tracking of Discrete-Time Distributed Multi-AUVs with Nonconvex Control Inputs and Weak Communication

Round 1

Reviewer 1 Report

This paper investigates the formation trajectory tracking problem of discrete-time distributed multi-AUVs with control input constraint in a non-convex set.

In my opinion the paper is well presented and organized and the topic is also well detailed. Both theoretical and technical aspect are deeply investigated.

I have only one question: the control architecture can be tuned to become able to allows the AUVs to autonomously coordinate missions during their operations?

I also suggest to the authors to discuss about guidance, navigation, and control (GNC) software architecture and multi-mission management paradigm.

Then, in order to improve the research background, I suggest to consider and discuss the following topics in the introduction section:

[ - ] Nad, D.; Miskovic, N.; Mandic, F. Navigation, guidance and control of an overactuated marine surface vehicle. Annu. Rev. Control 2015, 40, 172–181

[ - ] Barbier, M.; Chanthery, E. Autonomous mission management for unmanned aerial vehicles. Aerosp. Sci. Technol. 2004, 8, 359–368.

[ - ] D’Angelo, V.; Folino, P.; Lupia, M.; Gagliardi, G.; Cario, G.; Gaccio, F.C.; Casavola, A. A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm. Drones 2022, 6, 382. https://doi.org/10.3390/drones6120382

[ - ] Gunetti, P.; Dodd, T.; Thompson, H. A software architecture for Autonomous UAV Mission Management and Control. In Proceedings of the 2010 AIAA Infotech@Aerospace, Atlanta, Georgia, 20–22 April 2010.

[ - ] Conte, G.; Scaradozzi, D.; Sorbi, L.; Panebianco, L.; Mannocchi, D. ROS Multi-Agent Structure for Autonomous Surface Vehicles. In Proceedings of the OCEANS 2015, Genova, Italy, 18–21 May 2015.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

Attached

Comments for author File: Comments.pdf

Please see the attached file

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 3 Report

Several aspects of the used method are desirable to receive some additional commentaries.

1.       What real ranges of parameters of delay t_p  and t_v  can respond to the condition of weak communication for AUVs.

2.       For eqs. (25-27) the authors has used Def. (2) and the stable condition with a convergence rate α in the exponential form e^-a…. Please comment, in what conditions such solution will be adequate.

3.       Please refine, if the operator s_uj and the corresponding convex set can be considered as a some kind of the “diagnostics” tool to guess beforehand the relevance of the final results of calculations.

4.       Please, give some citation disclosing the method of  LMI calculations, concerning Theorem 2.

5.       Check misprints in rows 62, 94, and 164

 

Moderate check is still recommended

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

The authors fulfilled all my concerns.

The paper can be accepted in presente form.

Reviewer 2 Report

The reviewer sees no reason to formulate other questions and comments.