| Title | An MMB-MDS based approach to event-triggered affine formation control for multiples UUVs |
| Author | |
| DOI | |
| Publication Years | 2022
|
| Conference Name | 41st Chinese Control Conference (CCC)
|
| ISSN | 1934-1768
|
| ISBN | 978-1-6654-8256-1
|
| Source Title | |
| Pages | 1200-1205
|
| Conference Date | 25-27 July 2022
|
| Conference Place | Hefei, China
|
| Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
|
| Publisher | |
| Abstract | This paper concentrates on the affine formation control problem for multiple unmanned underwater vehicles (UUVs) under mixed distance and bearing measurements. A distributed formation control strategy is developed to control all UUVs to a desired affine formation by integrating a mixed measurement based multi-dimensional scaling (MMB-MDS) algorithm and a discontinuous event-triggered mechanism. The control law design consists of two parts: one is a localization step using the MMB-MDS method to convert distance and bearing information into relative position information in a local coordinate frame, which reduces the complexity for stability analysis raised the mixture of distances and bearings; the other step is to control all UUVs under a distributed and discontinuous event-triggered based protocol to achieve a desired affine formation shape, which reduces the updating frequency of control inputs and communication. Simulation results are provided to illustrate the effectiveness of the proposed control schemes. |
| Keywords | |
| SUSTech Authorship | Others
|
| Language | English
|
| URL | [Source Record] |
| Indexed By | |
| Funding Project | National Key Research and Development Program of China[2021YFC2801604]
|
| WOS Research Area | Automation & Control Systems
|
| WOS Subject | Automation & Control Systems
|
| WOS Accession No | WOS:000932071601055
|
| Data Source | IEEE
|
| PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9902303 |
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Conference paper |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/406497 |
| Department | Department of Electrical and Electronic Engineering |
| Affiliation | 1.715 Research Institute of China State Shipbuilding Corporation, Hangzhou, China 2.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China |
| Recommended Citation GB/T 7714 |
Yanjun Lin,Zhiyun Lin. An MMB-MDS based approach to event-triggered affine formation control for multiples UUVs[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:1200-1205.
|
| Files in This Item: | There are no files associated with this item. | |||||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment