Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology
ObjectivesIn order to realize the formation control of swarms of unmanned marine vehicle (UMV) with directed interaction topology, the formation tracking control of unmanned surface vehicle (USV) and unmanned aerial vehicle (UAV) swarms is studied.Methods An inner/outer loop layered control structur...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2021-12-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02092 |
| _version_ | 1818873766073073664 |
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| author | Yueqi HOU Xiaolong LIANG Nuo ZHANG Hao TAO Junbin GONG |
| author_facet | Yueqi HOU Xiaolong LIANG Nuo ZHANG Hao TAO Junbin GONG |
| author_sort | Yueqi HOU |
| collection | DOAJ |
| description | ObjectivesIn order to realize the formation control of swarms of unmanned marine vehicle (UMV) with directed interaction topology, the formation tracking control of unmanned surface vehicle (USV) and unmanned aerial vehicle (UAV) swarms is studied.Methods An inner/outer loop layered control structure of formation is adopted to model the system, and the discrete-time system is used to describe the formation control problem of UMV swarms, improving the compatibility and practicability of the method for heterogeneous swarms. Based on the idea of a virtual leader, a distributed formation control protocol based on neighbor position and velocity error feedback is adopted, and the necessary and sufficient conditions for UMV swarms to realize the desired configuration and path tracking are given.ResultsThe simulation results show that UMV swarms can achieve stable formation control when there is a directed spanning tree in the interaction topology, and the parameters of the control protocol and discrete time period meet the given constraints.ConclusionsThis method has application value in the formation control of UMV swarms with directed interaction topology. |
| first_indexed | 2024-12-19T12:59:55Z |
| format | Article |
| id | doaj.art-9854380a0760453b902e7b29991c5369 |
| institution | Directory Open Access Journal |
| issn | 1673-3185 |
| language | English |
| last_indexed | 2024-12-19T12:59:55Z |
| publishDate | 2021-12-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-9854380a0760453b902e7b29991c53692022-12-21T20:20:17ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852021-12-011661910.19693/j.issn.1673-3185.02092ZG2092Distributed formation control for swarms of unmanned marine vehicle with directed interaction topologyYueqi HOU0Xiaolong LIANG1Nuo ZHANG2Hao TAO3Junbin GONG4Aviation Swarm Technology and Operational Application Laboratory, Air Traffic Control and Navigation College, Air Force Engineering University, Xi'an 710051, ChinaAviation Swarm Technology and Operational Application Laboratory, Air Traffic Control and Navigation College, Air Force Engineering University, Xi'an 710051, ChinaThe 31005 Unit of PLA, Beijing 100094, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaObjectivesIn order to realize the formation control of swarms of unmanned marine vehicle (UMV) with directed interaction topology, the formation tracking control of unmanned surface vehicle (USV) and unmanned aerial vehicle (UAV) swarms is studied.Methods An inner/outer loop layered control structure of formation is adopted to model the system, and the discrete-time system is used to describe the formation control problem of UMV swarms, improving the compatibility and practicability of the method for heterogeneous swarms. Based on the idea of a virtual leader, a distributed formation control protocol based on neighbor position and velocity error feedback is adopted, and the necessary and sufficient conditions for UMV swarms to realize the desired configuration and path tracking are given.ResultsThe simulation results show that UMV swarms can achieve stable formation control when there is a directed spanning tree in the interaction topology, and the parameters of the control protocol and discrete time period meet the given constraints.ConclusionsThis method has application value in the formation control of UMV swarms with directed interaction topology.http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02092swarms of unmanned marine vehicleinteraction topologyformation controlconsensus controldistributed control |
| spellingShingle | Yueqi HOU Xiaolong LIANG Nuo ZHANG Hao TAO Junbin GONG Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology Zhongguo Jianchuan Yanjiu swarms of unmanned marine vehicle interaction topology formation control consensus control distributed control |
| title | Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology |
| title_full | Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology |
| title_fullStr | Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology |
| title_full_unstemmed | Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology |
| title_short | Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology |
| title_sort | distributed formation control for swarms of unmanned marine vehicle with directed interaction topology |
| topic | swarms of unmanned marine vehicle interaction topology formation control consensus control distributed control |
| url | http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02092 |
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