Distributed formation control of autonomous underwater vehicles without velocity measurement

Yuwei Zhang; Shaoping Wang; Xingjian Wang

doi:10.1109/ICIEA48937.2020.9248128

Distributed formation control of autonomous underwater vehicles without velocity measurement

School of Automation Science and Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper addresses the distributed formation control problem of autonomous underwater vehicles moving in horizontal plane without velocity measurement. A novel output-feedback formation protocol is proposed based on leader-following strategy while assuming that only a subset of followers know the information of leader. First, a distributed observer is designed for each follower to estimate the information of the leader and extended state observers are designed to estimate the unmeasured velocities as well as to recover lumped uncertainties induced by parameter perturbations and external disturbances. Based on the observation results, the formation tracking laws are proposed in kinematic and dynamic level, while desired tracking performance and robustness are guaranteed. It is proved that estimation errors and formation tracking errors converge to an arbitrarily small neighborhood of zero. Simulation results are finally presented to validate the effectiveness of proposed strategy.

Original language	English
Title of host publication	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1938-1943
Number of pages	6
ISBN (Electronic)	9781728151694
DOIs	https://doi.org/10.1109/ICIEA48937.2020.9248128
State	Published - 9 Nov 2020
Event	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 - Virtual, Kristiansand, Norway Duration: 9 Nov 2020 → 13 Nov 2020

Publication series

Name	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

Conference

Conference	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Country/Territory	Norway
City	Virtual, Kristiansand
Period	9/11/20 → 13/11/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Formation control
autonomous underwater vehicle
distributed observer
extended state observer
leader-following

Access to Document

10.1109/ICIEA48937.2020.9248128

Cite this

Zhang, Y., Wang, S., & Wang, X. (2020). Distributed formation control of autonomous underwater vehicles without velocity measurement. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 (pp. 1938-1943). Article 9248128 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA48937.2020.9248128

Zhang, Yuwei ; Wang, Shaoping ; Wang, Xingjian. / Distributed formation control of autonomous underwater vehicles without velocity measurement. Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1938-1943 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

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title = "Distributed formation control of autonomous underwater vehicles without velocity measurement",

abstract = "This paper addresses the distributed formation control problem of autonomous underwater vehicles moving in horizontal plane without velocity measurement. A novel output-feedback formation protocol is proposed based on leader-following strategy while assuming that only a subset of followers know the information of leader. First, a distributed observer is designed for each follower to estimate the information of the leader and extended state observers are designed to estimate the unmeasured velocities as well as to recover lumped uncertainties induced by parameter perturbations and external disturbances. Based on the observation results, the formation tracking laws are proposed in kinematic and dynamic level, while desired tracking performance and robustness are guaranteed. It is proved that estimation errors and formation tracking errors converge to an arbitrarily small neighborhood of zero. Simulation results are finally presented to validate the effectiveness of proposed strategy.",

keywords = "Formation control, autonomous underwater vehicle, distributed observer, extended state observer, leader-following",

author = "Yuwei Zhang and Shaoping Wang and Xingjian Wang",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 ; Conference date: 09-11-2020 Through 13-11-2020",

year = "2020",

month = nov,

day = "9",

doi = "10.1109/ICIEA48937.2020.9248128",

language = "英语",

series = "Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1938--1943",

booktitle = "Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020",

address = "美国",

}

Zhang, Y , Wang, S & Wang, X 2020, Distributed formation control of autonomous underwater vehicles without velocity measurement. in Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020., 9248128, Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1938-1943, 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Virtual, Kristiansand, Norway, 9/11/20. https://doi.org/10.1109/ICIEA48937.2020.9248128

Distributed formation control of autonomous underwater vehicles without velocity measurement. / Zhang, Yuwei ; Wang, Shaoping ; Wang, Xingjian.
Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1938-1943 9248128 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed formation control of autonomous underwater vehicles without velocity measurement

AU - Zhang, Yuwei

AU - Wang, Shaoping

AU - Wang, Xingjian

PY - 2020/11/9

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N2 - This paper addresses the distributed formation control problem of autonomous underwater vehicles moving in horizontal plane without velocity measurement. A novel output-feedback formation protocol is proposed based on leader-following strategy while assuming that only a subset of followers know the information of leader. First, a distributed observer is designed for each follower to estimate the information of the leader and extended state observers are designed to estimate the unmeasured velocities as well as to recover lumped uncertainties induced by parameter perturbations and external disturbances. Based on the observation results, the formation tracking laws are proposed in kinematic and dynamic level, while desired tracking performance and robustness are guaranteed. It is proved that estimation errors and formation tracking errors converge to an arbitrarily small neighborhood of zero. Simulation results are finally presented to validate the effectiveness of proposed strategy.

AB - This paper addresses the distributed formation control problem of autonomous underwater vehicles moving in horizontal plane without velocity measurement. A novel output-feedback formation protocol is proposed based on leader-following strategy while assuming that only a subset of followers know the information of leader. First, a distributed observer is designed for each follower to estimate the information of the leader and extended state observers are designed to estimate the unmeasured velocities as well as to recover lumped uncertainties induced by parameter perturbations and external disturbances. Based on the observation results, the formation tracking laws are proposed in kinematic and dynamic level, while desired tracking performance and robustness are guaranteed. It is proved that estimation errors and formation tracking errors converge to an arbitrarily small neighborhood of zero. Simulation results are finally presented to validate the effectiveness of proposed strategy.

KW - Formation control

KW - autonomous underwater vehicle

KW - distributed observer

KW - extended state observer

KW - leader-following

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M3 - 会议稿件

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T3 - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

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BT - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Zhang Y , Wang S , Wang X. Distributed formation control of autonomous underwater vehicles without velocity measurement. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1938-1943. 9248128. (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). doi: 10.1109/ICIEA48937.2020.9248128

Distributed formation control of autonomous underwater vehicles without velocity measurement

Abstract

Publication series

Conference

UN SDGs

Keywords

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