Formation Control of Underwater Mobile Sensing Networks  

作　　者：陈煦蔚 冯正平 

机构地区：[1]School of Naval Architecture,Oceans and Civil Engineering,Shanghai Jiaotong University

出　　处：《Journal of Shanghai Jiaotong university(Science)》2009年第5期590-592,共3页上海交通大学学报（英文版）

基　　金：the National High Technology Research and Development Program (863) of China (No.2006AA09Z233)

摘　　要：Formation control is essential for an underwater mobile sensing network(UMSN) ,and 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 control for a UMSN with varying topology is studied in this paper.The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.Formation control is essential for an underwater mobile sensing network （UMSN）, and 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 control for a UMSN with varying topology is studied in this paper. The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.

关 键 词：underwater mobile sensing network （UMSN） autonomous underwater vehicles formation control graph theory linear time-varying systems 

分 类 号：TP212.14[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]