Formation stabilization of underwater mobile sensing networks
Formation stabilization of underwater mobile sensing networks
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.
9781424425228
1-4
Feng, Z.
72a3bad8-4857-4dca-a5f7-f18b1ffaff63
Allen, R.
956a918f-278c-48ef-8e19-65aa463f199a
2009
Feng, Z.
72a3bad8-4857-4dca-a5f7-f18b1ffaff63
Allen, R.
956a918f-278c-48ef-8e19-65aa463f199a
Feng, Z. and Allen, R.
(2009)
Formation stabilization of underwater mobile sensing networks.
In Oceans '09. Oceans 2009-Europe, 2009.
IEEE.
.
(doi:10.1109/OCEANSE.2009.5278123).
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Conference or Workshop Item
(Paper)
Abstract
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.
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Published date: 2009
Venue - Dates:
Oceans '09. Oceans 2009-Europe, 2009, Bremen, Germany, 2009-05-11 - 2009-05-14
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Local EPrints ID: 71438
URI: http://eprints.soton.ac.uk/id/eprint/71438
ISBN: 9781424425228
PURE UUID: ba7a78f7-71e0-4aaa-b996-69d474e6467f
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Date deposited: 01 Feb 2010
Last modified: 13 Mar 2024 20:27
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Author:
Z. Feng
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