By Topic

Platoons of underwater vehicles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Stilwell, D.J. ; Dept. of Syst. Eng., US Naval Acad., Annapolis, MD, USA ; Bishop, B.E.

We have presented a decentralized control design methodology for regulating global functions of cooperating mobile systems. The application of relatively standard system-theoretic tools, leads to a novel broadcast-only communication structure. The feedback mechanism between vehicles is the measurement of the global variables and broadcast of their integrated values. More generally, the methods presented allow the designer to determine what explicit communication strategies are sufficient for a stabilizing decentralized control to exist. Using a simplified model, we showed that it is indeed possible to regulate global variables of a platoon of autonomous underwater vehicles, in particular, the center of the platoon and the distribution of the vehicles about the center. A relatively small amount of explicit communication is required between vehicles and that no vehicle must regulate its actual position. Further, the approach presented is scalable to any number of cooperating vehicles without the need for additional communication, although there is a practical limit on the size of the platoon.

Published in:

Control Systems, IEEE  (Volume:20 ,  Issue: 6 )