Distributed formation control of a fleet of underwater gliders

被引：0
|
作者：
Ma, Xiaojuan [1 ]
Wang, Yanhui [1 ]
Niu, Wendong [1 ]
Ma, Wei [1 ]
Li, Shuai [1 ]
Xue, Changli [1 ]
机构：
[1] Tianjin Univ TJU, Sch Mech Engn, Tianjin, Peoples R China
来源：
OCEANS 2022 | 2022年
基金：
中国国家自然科学基金;
关键词：
Distributed formation control; Underwater glider; Consensus problem; Discrete-time control; COORDINATED CONTROL;
D O I：
10.1109/OCEANSChennai45887.2022.9775506
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
In this paper, the distributed formation control problem for the underactuated multi-glider system with directed and undirected communication topology is investigated. Neglecting the acceleration part, the second-order model of the glider is established and discretized by the direct discretization method. The distributed formation control system which embedded in the on-board controller of each glider is developed to motivate the glider to the expected formation. Applying the neighbouring relative position and velocity information, a discrete-time formation protocol is developed and the sufficient conditions for accomplishing the formation are established. The simulation of three gliders achieves the expected formation and show the correctness and effectiveness of the proposed control protocols.
引用
收藏
页数：7
相关论文
共 50 条
  • [31] Stability and Performance of Underwater Gliders
    Fan, Shuangshuang
    Wolek, Artur
    Woolsey, Craig A.
    2012 OCEANS, 2012,
  • [32] Dynamics of underwater gliders in currents
    Fan, Shuangshuang
    Woolsey, Craig A.
    OCEAN ENGINEERING, 2014, 84 : 249 - 258
  • [33] Routing strategies for underwater gliders
    Davis, Russ E.
    Leonard, Naomi E.
    Fratantoni, David M.
    DEEP-SEA RESEARCH PART II-TOPICAL STUDIES IN OCEANOGRAPHY, 2009, 56 (3-5) : 173 - 187
  • [34] Underwater gliders for ocean research
    Rudnick, DL
    Davis, RE
    Eriksen, CC
    Fratantoni, DM
    Perry, MJ
    MARINE TECHNOLOGY SOCIETY JOURNAL, 2004, 38 (02) : 73 - 84
  • [35] Tracking Control of Underwater Gliders in Ocean Mesoscale Eddies Observation Task
    Zhao, Wentao
    Zhou, Yaojian
    Yu, Jiancheng
    Zhang, Aiqun
    Huang, Yan
    OCEANS 2016 MTS/IEEE MONTEREY, 2016,
  • [36] Sampled-data control of underwater gliders: digital redesign approach
    Moon, Ji Hyun
    Lee, Ho Jae
    INTERNATIONAL JOURNAL OF CONTROL, 2021, 94 (05) : 1188 - 1200
  • [37] An Improved DDPG Reinforcement Learning Control of Underwater Gliders for Energy Optimization
    Jing, Anyan
    Tang, Zuocheng
    Gao, Jian
    Pan, Guang
    PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS), 2020, : 621 - 626
  • [38] Modeling for the performance of navigation, control and data post -processing of underwater gliders
    Eichhorn, Mike
    Aragon, David
    Shardt, Yuri A. W.
    Roarty, Hugh
    APPLIED OCEAN RESEARCH, 2020, 101
  • [39] Distributed formation control of autonomous underwater vehicles without velocity measurement
    Zhang, Yuwei
    Wang, Shaoping
    Wang, Xingjian
    PROCEEDINGS OF THE 15TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2020), 2020, : 1938 - 1943
  • [40] Coordinate Control, Motion Optimization and Sea Experiment of a Fleet of Petrel-II Gliders
    Dong-Yang Xue
    Zhi-Liang Wu
    Yan-Hui Wang
    Shu-Xin Wang
    Chinese Journal of Mechanical Engineering, 2018, 31
12345