Formation Control Using Finite State Automaton Based On Multi-AUVs State Feedback
文献类型：会议论文
| 作者 | Yan SX(阎述学) ; Li YP(李一平); Wang J(王健); Li Y(李岩)
|
| 出版日期 | 2014 |
| 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 |
| 关键词 | autonomous underwater vehicles (AUVs) formation control state feedback finite state automaton (FSA) |
| 页码 | 1-5 |
| 通讯作者 | 阎述学 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | OCEANS'14 MTS/IEEE St. John's
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-4918-2 |
| WOS记录号 | WOS:000369848800073 |
| 源URL | [http://ir.sia.cn/handle/173321/15314]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 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]. 见:OCEANS'14 MTS/IEEE St. John's. St. John's, Canada. September 14-19, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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