TY - JOUR
T1 - Completely Distributed Affine Formation Maneuvering of Networked Marine Surface Vehicles With Cooperation Localization
AU - Zhu, Cheng
AU - Huang, Bing
AU - Xu, Yang
AU - Lu, Yu
AU - Su, Yumin
N1 - Publisher Copyright:
© 1967-2012 IEEE.
PY - 2022/12/1
Y1 - 2022/12/1
N2 - 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.
AB - 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.
KW - Affine formation maneuver control
KW - completely distributed
KW - networked marine surface vehicles
UR - http://www.scopus.com/inward/record.url?scp=85135943701&partnerID=8YFLogxK
U2 - 10.1109/TVT.2022.3197267
DO - 10.1109/TVT.2022.3197267
M3 - 文章
AN - SCOPUS:85135943701
SN - 0018-9545
VL - 71
SP - 12523
EP - 12529
JO - IEEE Transactions on Vehicular Technology
JF - IEEE Transactions on Vehicular Technology
IS - 12
ER -