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Event-based motion coordination of multiple underwater vehicles under disturbances
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2010 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The problem of driving a formation from an initial to a target configuration while under the effect of external disturbances is studied. Additional restrictions on agent sensing as well as inter-agent communication must be satisfied. We present a leader-follower solution that relies on a simple uncertainty model to trigger surfacing events. These events are then used to update the control signal, for which two different, provably correct, control strategies are proposed. Finally, we show how the surfacing events can be used to characterize the disturbance set. Numerical examples on relevant scenarios are also provided.

Place, publisher, year, edition, pages
IEEE , 2010. 1-7 p.
Keyword [en]
Ellipsoids, Lead, Position measurement, Trajectory, Uncertainty, Upper bound, Vehicles
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-79984DOI: 10.1109/OCEANSSYD.2010.5603980Scopus ID: 2-s2.0-78349244856ISBN: 978-1-4244-5222-4 (print)OAI: oai:DiVA.org:kth-79984DiVA: diva2:495895
Conference
IEEE OCEANS, Sydney, Australia, 24-27 May 2010
Note
© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Qc 20120213Available from: 2012-02-13 Created: 2012-02-09 Last updated: 2012-02-13Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik
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