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Title: Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization
Authors: Zhu, Cheng
Huang, Bing
Xu, Yang
Lu, Yu
Su, Yumin
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2022
Source: Zhu, C., Huang, B., Xu, Y., Lu, Y. & Su, Y. (2022). Completely distributed affine formation maneuvering of networked marine surface vehicles with cooperation localization. IEEE Transactions On Vehicular Technology, 71(12), 12523-12529.
Journal: IEEE Transactions on Vehicular Technology
Abstract: 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.
ISSN: 0018-9545
DOI: 10.1109/TVT.2022.3197267
Schools: School of Electrical and Electronic Engineering 
Rights: © 2022 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
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