Event-based motion coordination of multiple underwater vehicles under disturbances

Abstract

The problem of driving a formation from an initial to a target configuration while under the effect of external disturbances is studied. Additional restrictions on agent sensing as well as inter-agent communication must be satisfied. We present a leader-follower solution that relies on a simple uncertainty model to trigger surfacing events. These events are then used to update the control signal, for which two different, provably correct, control strategies are proposed. Finally, we show how the surfacing events can be used to characterize the disturbance set. Numerical examples on relevant scenarios are also provided.© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Qc 2012021

Control of multi-agent systems with event-triggered cloud access

“…Suppose Assumptions 1 and 2 hold and let the control updates t i,k be scheduled according to (22). Then practical consensus is achieved with ε as in (10).…”

“…Proof: We are going to prove that if the control updates are scheduled according to (22), then (9) holds for all the agents i ∈ V and at all the time instants t ≥ 0. Then the claim is obtained from Theorem 1.…”

“…Remark 8: Since Theorem 2 only requires that t i,k+1 ≤ T i, j,k for all j ∈ V and t i,k+1 ≤ T i,k , the scheduling rule (22) may be relaxed to…”

“…For this reason, in low cost applications the AUVs are supposed to now and then surface to get their exact feedback position by GPS in order to compensate the effect of ocean currents and external disturbances. This kind of scenario is considered in [22], [23] where, taking advantage of periodic surfacing, wireless communication is used. However, the drawback is that all AUVs have to surface at the same instant in order to communicate with a leader and receive the next waypoint (in terms of time and position).…”

Event-triggered sampling scheme for pinning control in multi-agent networks with general nonlinear dynamics

“…In many cases, it outperforms the traditional time-triggered control [27]. It has been also proved especially useful in multi-agent systems, such as consensus algorithms [35], distributed rendezvous problem [29], formation control [36], tracking control [37], and path planning [38]. Tabuada in [31] presented a triggered condition based on norms of the state and the state error eðtÞ ¼ xðt k Þ À xðtÞ (the last measured state minus the current state of the system), where the measurement received at the system is held constant until a new measurement arrives.…”