Distributed formation control of autonomous underwater vehicles with impulsive information exchanges and disturbances under fixed and switching topologies

Zhongliang Hu, Chao Ma, Lixian Zhang, Aarne Halme

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

2 Citations (Scopus)

Abstract

In this paper, the distributed formation problem of multiple autonomous underwater vehicles (AUVs) with impulsive information exchanges and disturbances is investigated. In the studied case, all the information exchanges among the AUVs are completed according to the admissible impulse time sequence, which is more practical in the weak underwater communication environment. By model transformation, sufficient conditions are derived to ensure that the desired formation of multiple AUVs can be achieved under both fixed and switching communication topologies. Finally, a numerical example is presented to verify the effectiveness of the theoretical results.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherIEEE
Pages99-104
Number of pages6
ISBN (Electronic)9781479923991
DOIs
Publication statusPublished - 2014
MoE publication typeA4 Article in a conference publication
EventInternational Symposium on Industrial Electronics - Istanbul, Turkey
Duration: 1 Jun 20144 Jun 2014
Conference number: 23

Conference

ConferenceInternational Symposium on Industrial Electronics
Abbreviated titleISIE
CountryTurkey
CityIstanbul
Period01/06/201404/06/2014

Keywords

  • Autonomous underwater vehicle
  • Fixed and switching topologies
  • Formation control
  • Impulsive information exchange

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