[1]YUAN Jian,TANG Gongyou.Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure[J].CAAI Transactions on Intelligent Systems,2011,6(3):248-253.
Copy

Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 6 Number of periods: 2011 3 Page number: 248-253 Column: 学术论文—智能系统 Public date: 2011-06-25
Title:
Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure
Author(s):
YUAN Jian;  TANG Gongyou
College of Information Science and Engineering, Ocean University of China, Qingdao 266100, China
Keywords:
autonomous underwater vehicle;  formation control;  consensus algorithms;  virtual leader
CLC:
TP24
DOI:
-
Abstract:
The smallscale formation control of autonomous underwater vehicles (AUVs) was investigated with consensus algorithms and virtual structure. Firstly, considering the inconsistant virtualleader information (reference information) for each AUV, a consensus algorithm was adopted to negothiate the inconsistant reference information for each AUV, helping them reach a consistant state. Secondly, the relative positions to the virtual leader were transformed into their desired positions with coordinate transformation based on virtual structure, and a control law was proposed to make the AUVs track the desired trajectories in finite time. The smallscale formation control for AUVs in finitetime was carried out. Finally, Experimental results were provided to demonstrate the effectiveness of the proposed methods.
References:
［1］FIORELLI E, LEONARD N, BHATTA P, et al. MultiAUV control and adaptive sampling in Monterey Bay［J］. IEEE Journal of Oceanic Engineering, 2006, 31(4): 935948.
［2］YU S, URA T. A system of multiAUV interlinked with a smart cable for autonomous inspection of underwater structures［J］. International Journal of Offshore and Polar Engineering, 2004, 14(4): 264272.
［3］YU S, URA T. Experiments on a system of multiAUV interlinked with a smart cable for autonomous inspection of underwater structures［J］. International Journal of Offshore and Polar Engineering, 2004, 14(4): 273283.
［4］XIANG X. Coordinated control for multiAUV systems based on hybrid automata［C］//Proceedings of IEEE International Conference on Robotics and Biomimetics. Sanya, China, 2007: 21212126.
［5］TANGIRALA S, KUMAR R, BHATTACHARYYA S, et al. Hybridmodel based hierarchical mission control architecture for autonomous underwater vehicles［C］//American Control Conference. Portland, USA, 2005: 668673.
［6］YANG E, GU D. Nonlinear formationkeeping and mooring control of multiple autonomous underwater vehicles［J］. IEEE/ASME Transactions on Mechatronics, 2007, 2(2): 164178.
［7］KALANTAR S, ZIMMER U. Distributed shape control of homogeneous swarms of autonomous underwater vehicles［J］. Autonomous Robots, 2007, 22(1): 3753.
［8］DEGROOT M. Reaching a consensus［J］. Journal of American Statistical Association, 1974, 69(345): 118121.
［9］BORKAR V, VARAIYA P. Asymptotic agreement in distributed estimation［J］. IEEE Transactions on Automatic Control, 1982, 27(3): 650655.
［10］TSITSIKLIS J, ATHANS M. Convergence and asymptotic agreement in distributed decision problems［J］. IEEE Transactions on Automatic Control, 1984, 29(1): 4250.
［11］VICSEK T, CZIROK A, JACOB E, et al. Novel type of phase transitions in a system of selfdriven particles［J］. Physical Review Letter, 1995, 75(6): 12261229.
［12］JADBABAIE A, LIN J, MORSE A. Coordination of groups of mobile autonomous agents using nearest neighbor rules［J］. IEEE Transactions on Automatic Control, 2003, 48(9): 9881001.
［13］OLFATISABER R, MURRAY R. Consensus problems in networks of agents with switching topology and timedelays［J］. IEEE Transactions on Automatic Control, 2004, 49(9): 15201533.
［14］REN W, BEARD R. Consensus seeking in multiagent systems under dynamically changing interaction topologies［J］. IEEE Transactions on Automatic Control, 2005, 50(5): 655661.
［15］KOLMANOVSKY H, MCCLAMROCH N. Developments in nonholonomic controls systems［J］. IEEE Control System Magazine, 1997, 15(6): 2036.
［16］HONG Yiguang, XU Yangsheng, HUANG Jie. Finitetime control for robot manipulators［J］. Systems & Control Letters, 2002, 46(4): 243253.
Similar References:

Memo

-

Last Update: 2011-07-23

Copyright © CAAI Transactions on Intelligent Systems