Formation control of underwater mobile sensing networks |
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Authors: | Xu-wei Chen Zheng-ping Feng |
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Institution: | 1. School of Naval Architecture, Oceans and Civil Engineering, Shanghai Jiaotong University, Shanghai, 200240, China
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Abstract: | 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. |
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Keywords: | underwater mobile sensing network (UMSN) autonomous underwater vehicles formation control graph theory linear time-varying systems |
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