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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\u2019 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.<\/jats:p>","DOI":"10.1017\/s0263574720000922","type":"journal-article","created":{"date-parts":[[2020,10,27]],"date-time":"2020-10-27T10:01:23Z","timestamp":1603792883000},"page":"1101-1115","source":"Crossref","is-referenced-by-count":10,"title":["Cooperative Pursuit Control for Multiple Underactuated Underwater Vehicles with Time Delay in Three-Dimensional Space"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1715-8125","authenticated-orcid":false,"given":"Xue","family":"Qi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhi-Jun","family":"Cai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2020,10,27]]},"reference":[{"key":"S0263574720000922_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2092290"},{"key":"S0263574720000922_ref1","article-title":"Multi-agent cooperative pursuit-evasion strategies under uncertainty","volume":"2","author":"Shah","year":"2019","journal-title":"Generalized Models and Non-classical Approaches in Complex Materials"},{"key":"S0263574720000922_ref21","first-page":"32","article-title":"Mix-valued logic and its applications","volume":"46","author":"Cheng","year":"2011","journal-title":"J Shandong Univ."},{"key":"S0263574720000922_ref2","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2018.8484213"},{"key":"S0263574720000922_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRAE.2017.8291348"},{"key":"S0263574720000922_ref12","doi-asserted-by":"publisher","DOI":"10.1186\/s41601-018-0077-1"},{"key":"S0263574720000922_ref8","doi-asserted-by":"crossref","unstructured":"[8] Zhang, P. , Yang, T. . \u201cFormation Path-following of Multiple Underwater Vehicles Based on Fault Tolerant Control and Port-controlled Hamiltonian systems,\u201d The 30th Chinese Control and Decision Conference (2018).","DOI":"10.1109\/CCDC.2018.8407271"},{"key":"S0263574720000922_ref11","doi-asserted-by":"crossref","unstructured":"[11] Zhu, M. , Otte, M. , Chaudhari, P. , Frazzoli, E. , \u201cGame theoretic controller synthesis for multi-robot motion planning Part I: Trajectory based algorithms,\u201d Proceedings-IEEE International Conference on Robotics and Automation, (2014) pp. 1\u20137.","DOI":"10.1109\/ICRA.2014.6907072"},{"key":"S0263574720000922_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000436"},{"key":"S0263574720000922_ref14","doi-asserted-by":"crossref","unstructured":"[14] Galloway, K. 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H. , \u201cDistributed positioning of autonomous mobile sensors with application to coverage control,\u201d American Control Conference (2011) pp. 12\u201318.","DOI":"10.1109\/ACC.2011.5991324"},{"key":"S0263574720000922_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2628161"},{"key":"S0263574720000922_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2801857"},{"key":"S0263574720000922_ref13","first-page":"46","article-title":"A novel approach for multi-agent cooperative pursuit to capture grouped evaders","volume":"12","author":"Zuhair","year":"2018","journal-title":"J Supercomput."},{"key":"S0263574720000922_ref6","first-page":"1","article-title":"Real-time recognition and pursuit in robots based on 3D depth data","volume":"6","author":"Boubou","year":"2018","journal-title":"J Intell Robot Syst."},{"key":"S0263574720000922_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.106201"},{"key":"S0263574720000922_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.11.031"},{"key":"S0263574720000922_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2628161"},{"key":"S0263574720000922_ref3","doi-asserted-by":"crossref","unstructured":"[3] Qi, X. . \u201cCoordinated control for multiple underactuated underwater vehicles with time delay in game theory frame,\u201d Proceedings of the 36th Chinese Control Conference, 7.26\u20137.28, 8419\u20138424 (2017).","DOI":"10.23919\/ChiCC.2017.8028691"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720000922","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,5,12]],"date-time":"2021-05-12T10:32:03Z","timestamp":1620815523000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720000922\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,27]]},"references-count":21,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2021,6]]}},"alternative-id":["S0263574720000922"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720000922","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2020,10,27]]}}}