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Formation control is essential for an underwater mobile sensing network (UMSN), and an ad hoc network which wirelessly connects
underwater vehicles of sensing and/or observing types via acoustic communications, to fulfill mobile sensing tasks. The problem
of formation control for a UMSN with varying topology is studied in this paper. The methodology of synthesizing distributed
formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear
time-varying systems. 相似文献
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