中文版 | English
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 urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9902303
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/406497
DepartmentDepartment 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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