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Formation Control Using Finite State Automaton Based On Multi-AUVs State Feedback
Yan SX(阎述学); Li YP(李一平); Wang J(王健); Li Y(李岩)
作者部门水下机器人研究室
会议名称OCEANS'14 MTS/IEEE St. John's
会议日期September 14-19, 2014
会议地点St. John's, Canada
会议录名称OCEANS'14 MTS/IEEE St. John's
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1-5
收录类别EI ; CPCI(ISTP)
EI收录号20150500475387
WOS记录号WOS:000369848800073
产权排序1
ISBN号978-1-4799-4918-2
关键词Autonomous Underwater Vehicles (Auvs) Formation Control State Feedback Finite State Automaton (Fsa)
摘要In this paper, a method based on the followers’ real-time state feedback in the leader-follower formation control of multiple autonomous underwater vehicles (Multi-AUVs) cooperative system is presented. First of all, some classifications of the followers’ possible abnormal conditions will be redefined. Then state feedback strategy of the followers is introduced to the traditional leader-follower method by using the finite state automaton (FSA), each formation control command corresponds to a follower discrete state. We established a FSA model based on the state feedback for special situations where the system has one leader and three followers and some abnormal conditions which will not happen in a real environment are ignored. After that, the FSA model in general condition with N followers is designed. Finally, the formation control method with two followers are demonstrated by simulation tests on a AUV simulation platform based on Matlab, the simulation results show that the FSA based on state feedback strategy performs better in dealing with abnormal conditions of the followers, and the simulation also shows the enhance of the system stability.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15314
专题水下机器人研究室
通讯作者Yan SX(阎述学)
作者单位1.State Key Laboratory of Robotics, University of Chinese Academy of Sciences, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式
GB/T 7714
Yan SX,Li YP,Wang J,et al. Formation Control Using Finite State Automaton Based On Multi-AUVs State Feedback[C]. Piscataway, NJ, USA:IEEE,2014:1-5.
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