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

doi:10.1109/ISIE.2014.6864593

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

Department of Electrical Engineering and Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-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 language	English
Title of host publication	Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Publisher	IEEE
Pages	99-104
Number of pages	6
ISBN (Electronic)	9781479923991
DOIs	https://doi.org/10.1109/ISIE.2014.6864593
Publication status	Published - 2014
MoE publication type	A4 Article in a conference publication
Event	International Symposium on Industrial Electronics - Istanbul, Turkey Duration: 1 Jun 2014 → 4 Jun 2014 Conference number: 23

Conference

Conference	International Symposium on Industrial Electronics
Abbreviated title	ISIE
Country	Turkey
City	Istanbul
Period	01/06/2014 → 04/06/2014

Keywords

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

Access to Document

10.1109/ISIE.2014.6864593

Link to publication in Scopus

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Cite this

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

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.",

keywords = "Autonomous underwater vehicle, Fixed and switching topologies, Formation control, Impulsive information exchange",

author = "Zhongliang Hu and Chao Ma and Lixian Zhang and Aarne Halme",

year = "2014",

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language = "English",

pages = "99--104",

booktitle = "Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014",

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note = "International Symposium on Industrial Electronics , ISIE ; Conference date: 01-06-2014 Through 04-06-2014",

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Hu, Z, Ma, C, Zhang, L & Halme, A 2014, Distributed formation control of autonomous underwater vehicles with impulsive information exchanges and disturbances under fixed and switching topologies. in Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014., 6864593, IEEE, pp. 99-104, International Symposium on Industrial Electronics , Istanbul, Turkey, 01/06/2014. https://doi.org/10.1109/ISIE.2014.6864593

Distributed formation control of autonomous underwater vehicles with impulsive information exchanges and disturbances under fixed and switching topologies. / Hu, Zhongliang; Ma, Chao; Zhang, Lixian; Halme, Aarne.

Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014. IEEE, 2014. p. 99-104 6864593.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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AU - Halme, Aarne

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N2 - 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.

AB - 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.

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