Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization
This paper develops a completely distributed affine formation maneuver control (CDAFC) algorithm for networked marine surface vehicles (NMSVs). The desired trajectories are generated by the affine image. Accordingly, NMSVs are capable to achieve arbitrary preset configuration transformations, while...
| Main Authors: | , , , , |
|---|---|
| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/163816 |
| _version_ | 1826117255998472192 |
|---|---|
| author | Zhu, Cheng Huang, Bing Xu, Yang Lu, Yu Su, Yumin |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Zhu, Cheng Huang, Bing Xu, Yang Lu, Yu Su, Yumin |
| author_sort | Zhu, Cheng |
| collection | NTU |
| description | This paper develops a completely distributed affine formation maneuver control (CDAFC) algorithm for networked marine surface vehicles (NMSVs). The desired trajectories are generated by the affine image. Accordingly, NMSVs are capable to achieve arbitrary preset configuration transformations, while only a small part of the formation members called leaders obtain the configuration information. Then, a synthetical constraint is designed, which can concern position and attitude configuration rigidities simultaneously. This feature enables NMSVs to achieve formation maneuvers with time-varying formation speeds and orientations. On these bases, a novel CDAFC scheme is developed. In contrast to the conventional fully distributed control schemes, the implementation requirements are completely limited to the local reference frame, i.e., not only is CDAFC designed in a node-based way, but the CDAFC implementation just depends on the local relative poses and self velocities. Thus, we call it completely distributed. The semi-physical simulations are conducted to illustrate the effectiveness. |
| first_indexed | 2024-10-01T04:24:19Z |
| format | Journal Article |
| id | ntu-10356/163816 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:24:19Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1638162022-12-19T03:48:16Z Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization Zhu, Cheng Huang, Bing Xu, Yang Lu, Yu Su, Yumin School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Affine Formation Maneuver Control Completely Distributed This paper develops a completely distributed affine formation maneuver control (CDAFC) algorithm for networked marine surface vehicles (NMSVs). The desired trajectories are generated by the affine image. Accordingly, NMSVs are capable to achieve arbitrary preset configuration transformations, while only a small part of the formation members called leaders obtain the configuration information. Then, a synthetical constraint is designed, which can concern position and attitude configuration rigidities simultaneously. This feature enables NMSVs to achieve formation maneuvers with time-varying formation speeds and orientations. On these bases, a novel CDAFC scheme is developed. In contrast to the conventional fully distributed control schemes, the implementation requirements are completely limited to the local reference frame, i.e., not only is CDAFC designed in a node-based way, but the CDAFC implementation just depends on the local relative poses and self velocities. Thus, we call it completely distributed. The semi-physical simulations are conducted to illustrate the effectiveness. This work was supported in part by China Postdoctoral Science Foundation under Grant 2020M681081 and in part by Hei Long Jiang Postdoctoral Foundation under Grant LBH-Z20130. 2022-12-19T03:48:16Z 2022-12-19T03:48:16Z 2022 Journal Article Zhu, C., Huang, B., Xu, Y., Lu, Y. & Su, Y. (2022). Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization. IEEE Transactions On Vehicular Technology, 71(12), 12523-12529. https://dx.doi.org/10.1109/TVT.2022.3197267 0018-9545 https://hdl.handle.net/10356/163816 10.1109/TVT.2022.3197267 2-s2.0-85135943701 12 71 12523 12529 en IEEE Transactions on Vehicular Technology © 2022 IEEE. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Affine Formation Maneuver Control Completely Distributed Zhu, Cheng Huang, Bing Xu, Yang Lu, Yu Su, Yumin Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization |
| title | Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization |
| title_full | Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization |
| title_fullStr | Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization |
| title_full_unstemmed | Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization |
| title_short | Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization |
| title_sort | completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization |
| topic | Engineering::Electrical and electronic engineering Affine Formation Maneuver Control Completely Distributed |
| url | https://hdl.handle.net/10356/163816 |
| work_keys_str_mv | AT zhucheng completelydistributedaffineformationmaneuveringofnetworkedmarinesurfacevehicleswithcooperationlocalization AT huangbing completelydistributedaffineformationmaneuveringofnetworkedmarinesurfacevehicleswithcooperationlocalization AT xuyang completelydistributedaffineformationmaneuveringofnetworkedmarinesurfacevehicleswithcooperationlocalization AT luyu completelydistributedaffineformationmaneuveringofnetworkedmarinesurfacevehicleswithcooperationlocalization AT suyumin completelydistributedaffineformationmaneuveringofnetworkedmarinesurfacevehicleswithcooperationlocalization |