Power efficient formation configuration for centralized leader–follower AUVs control

Burlutskiy, Nikolay; Touahmi, Yaniss; Lee, Beom Hee

doi:10.1007/s00773-012-0167-0

Cited by 24 publications

(6 citation statements)

References 14 publications

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“…Autonomous marine vessels (AMVs) have played important roles in various underwater applications, e.g., ocean sampling, oceanographic survey and inspection, seafloor mapping and modeling, submarine mine neutralization, offshore oil and gas exploration [1][2][3][4][5]. To improve efficiency and to extend task capacity, many tasks in these applications involve collaboration of multiple AMVs in a certain formation [6][7][8][9][10][11][12][13]. Formation control is therefore very important and there are various methods widely in use, among which the leader-follower scheme is the most popular due to simplicity and scalability.…”

Section: Introductionmentioning

confidence: 99%

“…What are the challenging issues in formation control of AMVs? Some well-known issues include energy limitation [6], communication constraint [12,15], uncertainties (modeling error, parameter variation, and external disturbance) [16], sensor and actuator constraints [17], etc. The first issue concerned in this chapter is the low convergence speed of the formation tracking control system, which is partly due to actuator constraints.…”

Section: Introductionmentioning

confidence: 99%

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Velocity Free Adaptive Fixed-Time Formation Control of AMVs

Guo

Gao

Zhang

2021

Stabilization, Tracking and Formation Control of Autonomous Marine Vessels

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This chapter is concerned with formation control of autonomous marine vessels (AMVs), focusing on improving system convergence speed and overcoming velocity measurement limitation. By employing the fixed-time control theory and command filtering technique, a full state feedback formation algorithm is proposed, which makes the follower AMV track the leader in a given time with all signals in the system globally practically stabilized in fixed time. To avoid degraded control performance due to inaccurate velocity measurement, a fixed-time convergent observer is designed to estimate the velocity of AMVs. We then give an observer-based fixedtime control method, with which acceptable formation tracking performance can be achieved in fixed time without velocity measurement. The effectiveness and performance of the proposed method is demonstrated by numerical simulations.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Velocity Free Adaptive Fixed-Time Formation Control of AMVs

Guo

Gao

Zhang

2021

Stabilization, Tracking and Formation Control of Autonomous Marine Vessels

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“…Due to their flexibility and autonomy, AUVs (autonomous underwater vehicles) are used to explore underwater environments (Burlutskiy et al, 2012; Allotta et al, 2016; Cao et al, 2016; Yu et al, 2018; Zhang et al, 2018; Gan et al, 2019) and for scientific investigation. As a development of information technology, sensors are used to monitor conditions of the oceans.…”

Section: Introductionmentioning

confidence: 99%

A Novel Classified Self-Organising Map Applied to Task Assignment

Qu¹,

Zhu²

2020

J. Navigation

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With the development of sensor technology, sensor nodes are increasingly being used in underwater environments. The strategy presented in this paper is designed to solve the problem of using a limited number of autonomous underwater vehicles (AUVs) to complete tasks such as data collection from sensor nodes when the number of AUVs is less than the number of target sensors. A novel classified self-organising map algorithm is proposed to solve the problem. First, according to the K-means algorithm, targets are classified into groups that are determined by the number of AUVs. Second, according to the self-organising map algorithm, AUVs are matched with groups. Third, each AUV is provided with the accessible order of the targets in the group. The novel classified self-organising map algorithm can be used not only to reduce the total energy consumption in a multi-AUV system, but also to give the most efficient accessible order of targets for AUVs. Results of simulations conducted to prove the applicability of the algorithm are given.

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“…Formation control is a special form of cooperative control of multiagent systems. In recent decades, some centralized or decentralized protocols have been introduced to make the multiagent systems converge to the predefined formation . In the centralized formation strategies, the global information of all the agents should be known.…”

Section: Introductionmentioning

confidence: 99%

“…In recent decades, some centralized or decentralized protocols have been introduced to make the multiagent systems converge to the predefined formation. 9 In the centralized formation strategies, the global information of all the agents should be known. Furthermore, as the number of agent increases, both the communication and computational burden increase, the centralized control is not suitable for large-scale application.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fault‐tolerant time‐varying formation tracking for multiagent systems with multiple leaders

Wang

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, an adaptive fault‐tolerant time‐varying formation control problem for nonlinear multiagent systems with multiple leaders is studied against actuator faults and state‐dependent uncertainties. Simultaneously, the followers form a predefined formation while tracking reference signal determined by the convex combination of the multiple leaders. Based on the neighboring relative information, an adaptive fault‐tolerant formation time‐varying control protocol is constructed to compensate for the influences of actuator faults and model uncertainties. In addition, the updating laws can be adjusted online through the adaptive mechanism, and the proposed control protocol can guarantee that all the signals in the closed‐loop systems are bounded. Lyapunov‐like functions are addressed to prove the stability of multiagent systems. Finally, two examples are provided to demonstrate the effectiveness of the theoretical results.

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Power efficient formation configuration for centralized leader–follower AUVs control

Cited by 24 publications

References 14 publications

Velocity Free Adaptive Fixed-Time Formation Control of AMVs

Velocity Free Adaptive Fixed-Time Formation Control of AMVs

A Novel Classified Self-Organising Map Applied to Task Assignment

Adaptive fault‐tolerant time‐varying formation tracking for multiagent systems with multiple leaders

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