A Distributed, Passivity-Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network

被引：8

作者：

Fabiani, F. ^{[1
]}

Fenucci, D.

Fabbri, T.

Caiti, A.

机构：

[1] Univ Pisa, Dept Informat Engn, Largo L Lazzarino 1, I-56122 Pisa, Italy

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 23期

关键词：

Autonomous vehicles; Co-operation; Co-ordination; Distributed control; Passivity; Port Hamiltonian;

D O I：

10.1016/j.ifacol.2016.10.432

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a cooperative and distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communication constraints. Virtual couplings define interaction control forces between neighbouring vehicles. Moreover, the couplings are designed to en force a desired vehicle-vehicle and vehicle target spacing. The whole network is modelled in the passive, energy based, port-Hamiltonian framework. Such framework allows to prove closed-loop stability using the whole system kinetic and virtual potential energy by constructing a suitable Lyapunov function. Furthermore; the robustness to communication delays is also demonstrated. Simulation results are given to illustrate the effectiveness of the proposed approach. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：367 / 372

页数：6

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