Distributed Heading Synchronization of Multi-Vehicle Systems via Pulse-Based Communication

Yujie Wang, Huan Gao, Jianhao Xu, Yongfeng Zhi, Shu Zhang, Huawen Hu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Distributed collective motion coordination has found a variety of applications in both military operations and civilian activities. As a critical component of collective motion coordination, distributed heading synchronization of multi-vehicle systems has received increasing attentions. Most existing approaches usually employ continuous control design followed by discretization based implementation. Such two-stage strategy, however, cannot guarantee the original designed control performance in final implementation since discretization will harm or even destabilize the controller designed in the continuous-time domain. In this paper, motivated by the synchronization of pulse-coupled oscillators, we propose an integrated control and communication approach for distributed heading synchronization of multi-vehicle systems. By leveraging the pulse-based communication, our approach does not need discretization in final implementation, making it feasible to guarantee the original design performance and meanwhile obeying the discrete nature of communication. Furthermore, benefiting from pulse signals containing no information, our proposed approach brings higher degrees of reliability and lower complexity of communication. Numerical simulations and experiments are provided to verify the effectiveness of our approach.

Original languageEnglish
Title of host publicationProceedings of the 43rd Chinese Control Conference, CCC 2024
EditorsJing Na, Jian Sun
PublisherIEEE Computer Society
Pages6044-6049
Number of pages6
ISBN (Electronic)9789887581581
DOIs
StatePublished - 2024
Event43rd Chinese Control Conference, CCC 2024 - Kunming, China
Duration: 28 Jul 202431 Jul 2024

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference43rd Chinese Control Conference, CCC 2024
Country/TerritoryChina
CityKunming
Period28/07/2431/07/24

Keywords

  • Distributed Heading Synchronization
  • Multi-Vehicle Systems
  • Pulse-Based Communication

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