Title | An MMB-MDS based approach to event-triggered affine formation control for multiples UUVs |
Author | |
DOI | |
Publication Years | 2022
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Conference Name | 41st Chinese Control Conference (CCC)
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ISSN | 1934-1768
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ISBN | 978-1-6654-8256-1
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Source Title | |
Pages | 1200-1205
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Conference Date | 25-27 July 2022
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Conference Place | Hefei, China
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Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
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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
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Language | English
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URL | [Source Record] |
Indexed By | |
Funding Project | National Key Research and Development Program of China[2021YFC2801604]
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WOS Research Area | Automation & Control Systems
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WOS Subject | Automation & Control Systems
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WOS Accession No | WOS:000932071601055
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Data Source | IEEE
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PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9902303 |
Citation statistics |
Cited Times [WOS]:0
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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.
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