Bearing-based formation tracking control of AUVs with optimal gains tuning

Su, Haifan; Zhu, Shanying; Yang, Ziwen; Chen, Cailian; Guan, Xinping

doi:10.1016/j.oceaneng.2022.111672

Cited by 8 publications

(5 citation statements)

References 32 publications

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“…A finite-time bearing-only control law is proposed based on the inverse of the minimum eigenvalue of the sum of the local projection matrices. Formation tracking via bearing-only estimation for time-varying leader-follower formations was also proposed in [44], [45], [46], [47].…”

Section: Introductionmentioning

confidence: 99%

Aquaculture systems in Hanoi, Vietnam.

Nguyen¹

2020

Preprint

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Hanoi, the capital of Vietnam, is one of the most densely populated areas in the world, with about 3,000 people km-2. Traditionally, aquaculture is practiced in ponds, reservoirs and urban lakes, rice fields, wastewater and VAC [an acronym from the Vietnamese words for garden (vuon), pond (ao) and livestock quarters (chuong)] systems. With over 5,000 ha of surface area and 3,000 ha of lowland rice fields, Hanoi has potential for further aquaculture development and tourism-entertainment services. The importance of aquaculture has long been recognized as a source of income and employment. Nowadays, pond aquaculture in peri-urban areas is decreasing due to urbanization, while in areas far from the city it is increasing through the conversion of lowland rice fields to fish ponds.

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Section: Introductionmentioning

confidence: 99%

Aquaculture systems in Hanoi, Vietnam.

Nguyen¹

2020

Preprint

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“…Assumption 2 is often used in the bearing‐only distributed formation control problem as in References 22‐28, which guarantees that there is no collision between the agents. It can be realized by the behavior‐based control approach where if the distance between the agents is smaller than the safety distance, a repulsive force is triggered to avoid the collisions.…”

Section: Problem Formulationmentioning

confidence: 99%

“…There are some continuous methods to solve the bearing-only formation control problem, [22][23][24][25][26][27][28] where the agents are driven to form the desired formation shape. In Reference 25, bearing rigidity theory is utilized to investigate the formation control problem of multi-agent systems.…”

Section: Introductionmentioning

confidence: 99%

Bearing‐only containment control of multi‐agent systems

Duan,

Yang,

Zhu

et al. 2023

Intl J Robust & Nonlinear

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Bearing‐only containment control means to achieve containment using only the bearing information, rather than the complete relative position information including both the bearing and the distance. Compared with the most existing relative position based containment control algorithms, the bearing‐only containment control algorithm is nonlinear due to the nonlinearity of the bearing, which renders the stability analysis challenging. In this article, the bearing‐only containment control problem of multi‐agent systems with dynamically changing topologies is investigated for two cases, where the leaders are stationary or dynamic. First, when the leaders are stationary, it is shown that the nonlinearity of the bearing leads to the unknown nonlinear time‐varying parameters in the system. Based on the boundedness of the nonlinear parameters and the connectivity of the switching directed sensing graphs, it is proven that all the followers converge to the stationary convex hull formed by the leaders asymptotically. Second, when the leaders are dynamic, a distributed estimator is proposed for each follower to keep a local estimate of the velocity of the leaders. Based on the optimality of the projection and the shift invariance of the normal cone, it is proven that all the followers converge to the dynamic convex hull formed by the leaders asymptotically under the conditions on the switching directed sensing and communication graphs. It is shown from the two cases that the distance information is not necessary for containment control, and containment can be achieved as long as the bearing information is provided. Numerical examples are presented to illustrate the theoretical results.

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“…Remark 1. Assumption 1, which is commonly used in addressing bearing-based formation control problems [28,41], ensures that only unique formations can be achieved through control approaches. This assumption is crucial because it allows for the precise determination of the desired position and velocity of each follower when the bearing-based formation is unique.…”

Section: Assumption 1 Graph G Pmentioning

confidence: 99%

“…Let

A

be a symmetric and positive semidefinite matrix and

italicNull ((), A)

⊥ denotes the orthogonal complement of

italicNull ((), A)

. Then for any nonzero vector

x \in italicNull ((), A)

⊥ , the following inequality holds

0 < λ_{m} ((), A) \leq x^{T} italicAx

,where

λ_{m} ((), A)

denotes the smallest positive eigenvalue of matrix

A

.Assumption Graph

G ((), p)

satisfies the infinitesimally bearing rigid condition, and

B_{ff}

is positive definite.Remark Assumption 1, which is commonly used in addressing bearing‐based formation control problems [28, 41], ensures that only unique formations can be achieved through control approaches. This assumption is crucial because it allows for the precise determination of the desired position and velocity of each follower when the bearing‐based formation is unique.…”

Section: Preliminaries and Problem Formulationmentioning

confidence: 99%

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

Ding,

Zhang,

Zhang

et al. 2023

Asian Journal of Control

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This article delves into the bearing‐only formation tracking control problem of nonlinear multi‐agent systems with unknown disturbances and unmodeled dynamics, wherein the distributed control solely utilizes the relative bearing information of its neighbors. Firstly, a disturbance observer combined with a neural network is proposed to eliminate the impact of unknown disturbances and unmodeled dynamics. Additionally, a pioneering event‐triggered based backstepping control approach is put forth for the formation tracking control problem of nonlinear multi‐agent systems, which economizes on communication bandwidth and computing resources by decreasing the update frequency of the controller. Finally, using the Lyapunov method, it is demonstrated that all signals of the control system are bounded, and the convergence errors are confined to a small neighborhood of the origin while excluding the “Zeno behavior” phenomenon through rigorous proof.

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Bearing-based formation tracking control of AUVs with optimal gains tuning

Cited by 8 publications

References 32 publications

Aquaculture systems in Hanoi, Vietnam.

Aquaculture systems in Hanoi, Vietnam.

Bearing‐only containment control of multi‐agent systems

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

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