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 enforce 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.
A Distributed, Passivity-Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network
Fabiani F.;
2016-01-01
Abstract
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 enforce 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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
