Formation stabilization of underwater mobile sensing networks

Feng, Z. and Allen, R. (2009) Formation stabilization of underwater mobile sensing networks. In, Oceans '09. Oceans 2009-Europe, 2009. USA, Institute of Electrical and Electronics Engineers, 1-4. (doi:10.1109/OCEANSE.2009.5278123).


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Formation control is essential for an underwater mobile sensing network (UMSN), 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 stabilization for an UMSN with varying communication topology is studied in this paper. Sufficient condition of formation stability is proposed in terms of stability analysis of linear time varying system and spectrum analysis of graph Laplacian of communication topology. Moreover, a design procedure for synthesis of formation controller is given.

Item Type: Book Section
Digital Object Identifier (DOI): doi:10.1109/OCEANSE.2009.5278123
ISBNs: 9781424425228 (hardback)
Related URLs:
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
V Naval Science > V Naval Science (General)
Divisions : University Structure - Pre August 2011 > Institute of Sound and Vibration Research > Signal Processing and Control
ePrint ID: 71438
Accepted Date and Publication Date:
Date Deposited: 01 Feb 2010
Last Modified: 31 Mar 2016 13:02

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