[PDF] Communication Feedback And Decentralized Control For Platoons Of Underwater Vehicles eBook

Author : Daniel J. Stilwell
Publisher :
Page : 0 pages
File Size : 26,90 MB
Release : 2000
Category : Remote submersibles
ISBN :

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Since communications bandwidth underwater is severely limited, platoons of underwater vehicles must cooperate with a minimum of direct communication. We present a control strategy for a platoon of underwater vehicles that requires broadcast-only communications from a single vehicle within the platoon. Even as the size of the platoon increases, the bandwidth of required communication remains constant. Our emphasis is on the mathematical developments necessary to prove existence of such a control system. In addition, we briefly describe a control system design procedure and present a simulation-based example.

Author : Hieu Trinh
Publisher : Springer
Page : 226 pages
File Size : 16,87 MB
Release : 2011-10-22
Category : Technology & Engineering
ISBN : 364224064X

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The theory of linear functional observers, which is the subject of this book, is increasingly becoming a popular researched topic because of the many advantages it presents in state observation and control system design. This book presents recent information on the current state of the art research in this field. This book will serve as a useful reference to researchers in this area of research to understand the fundamental concepts relevant to the theory of functional observers and to gather most recent advancements in the field. This book is useful to academics and postgraduate students researching into the theory of linear functional observers. This book can also be useful for specialized final year undergraduate courses in control systems engineering and applied mathematics with a research focus.

Author :
Publisher :
Page : 10 pages
File Size : 45,5 MB
Release : 2006
Category :
ISBN :

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The authors investigated approaches for designing the control and communication structure for fleets of autonomous underwater vehicles. They developed human-operated surface ships to provide an inexpensive method for testing these algorithms for possible use on fleets of multiple vehicles. The testing was performed at the NSWCCD ARD in Bayview, Idaho; it demonstrated a formation control algorithm that minimizes the communication needed to maintain formation. The system is a variation of a leader-follower formation where the leader periodically broadcasts its position to all the vehicles. This formation was shown to be robust and tolerant to loss of communication or the loss of any vehicle including the leader in computer simulations with a program developed at NAVSEA CSS called ALWSE-MC. The simulations show that the algorithm can be expanded to control a large number of vehicles. Preliminary measurements and analysis of the performance of a two-hydrophone sensor were performed. This sensor can be used to provide an update of the leader's location every time the leader pings for navigation or communicates in any way.

Author : Abdelkader Abdessameud
Publisher : Springer Science & Business Media
Page : 192 pages
File Size : 25,41 MB
Release : 2013-05-26
Category : Technology & Engineering
ISBN : 1447150945

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Motion Coordination for VTOL Unmanned Aerial Vehicles develops new control design techniques for the distributed coordination of a team of autonomous unmanned aerial vehicles. In particular, it provides new control design approaches for the attitude synchronization of a formation of rigid body systems. In addition, by integrating new control design techniques with some concepts from nonlinear control theory and multi-agent systems, it presents a new theoretical framework for the formation control of a class of under-actuated aerial vehicles capable of vertical take-off and landing. Several practical problems related to the systems’ inputs, states measurements, and restrictions on the interconnection topology between the aerial vehicles in the team are addressed. Worked examples with sufficient details and simulation results are provided to illustrate the applicability and effectiveness of the theoretical results discussed in the book. The material presented is primarily intended for researchers and industrial engineers from robotics, control engineering and aerospace communities. It also serves as a complementary reading for graduate students involved in research related to flying robotics, aerospace, control of under-actuated systems, and nonlinear control theory

Author : Somayeh Sojoudi
Publisher : Springer Science & Business Media
Page : 197 pages
File Size : 25,66 MB
Release : 2011-03-08
Category : Technology & Engineering
ISBN : 1441915494

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Structurally Constrained Controllers: Analysis and Synthesis studies the control of interconnected systems with a particular application in network, power systems, flight formations, etc. It introduces four important problems regarding the control of such systems and then proposes proper techniques for solving them.

Author :
Publisher :
Page : 12 pages
File Size : 35,57 MB
Release : 2006
Category :
ISBN :

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The communication and control performance of autonomous underwater vehicles (AUVs) relates directly to the tactical warfighting capability for force multiplication and improved effectiveness. The project objective is to develop a comprehensive design procedure for communication among, and decentralized control of, a fleet of AUVs. The AUVs consist of small submarines, called "swimmers," and small tracked vehicles called "crawlers." The vehicles are capable of organizing themselves in specified geometric patterns and navigating between predetermined points and around obstacles. Communication and distributed control concepts for a fleet of cooperating AUVs were investigated theoretically, by computer simulation, and through prototype testing in a controlled in-water environment. The testing was performed at the NSWCCD facilities at Bayview, Idaho. We investigated both fuzzy logic and system theoretic approaches to the control problem. We investigated and developed communication strategies appropriate for the fleet-wide control problem.

Author : Gianluca Antonelli
Publisher : Springer
Page : 294 pages
File Size : 45,64 MB
Release : 2013-11-22
Category : Technology & Engineering
ISBN : 3319028774

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This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Author : Shashi Phoha
Publisher : John Wiley & Sons
Page : 747 pages
File Size : 40,7 MB
Release : 2007-01-29
Category : Technology & Engineering
ISBN : 0471784168

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This excellent title introduces the concept of mission-oriented sensor networks as distributed dynamic systems of interacting sensing devices that are networked to jointly execute complex real-time missions under uncertainity. It provides the latest, yet unpublished results on the main technical and application challenges of mission-oriented sensor networks. The authors of each chapter are research leaders from multiple disciplines who are presenting their latest innovations on the issues. Together, the editors have compiled a comprehensive treatment of the subject that flows smoothly from chapter to chapter. This interdisciplinary approach significantly enhances the science and technology knowledge base and influences the military and civilian applications of this field. Author Information: Dr. Shashi Phoha is the Guest Editor of IEEE Transactions in Mobile Computing, Special Issue on Mission-Oriented Sensor Networks. She is the Head of the Information Sciences and Technology Division of ARL and Professor of Electrical and Computer Engineering at Pennsylvania State University. She has led major research programs of multimillion dollars for military sensor networks in industry as well as in academia. In addition to more than a hundred journal articles, she authored or co-authored several books in related areas. Dr. Thomas La Porta is the Editor of the IEEE Transactions on Mobile Computing. He received his B.S.E.E. and M.S.E.E. degrees from The Cooper Union, New York, NY and his Ph.D. degree in Electrical Engineering from Columbia University, New York, NY. He joined the Computer Science and Engineering Department at Penn State in 2002 as a Full Professor. He is Director of the Networking Research Center at Penn State. Prior to joining Penn State, Dr. LaPorta was with Bell Laboratories since 1986. He was the Director of the Mobile Networking Research Department Bell Laboratories, Lucent Technologies, where he led various projects in wireless and mobile networking. He is an IEEE Fellow, Bell Labs Fellow, received the Bell Labs Distinguished Technical Staff Award, and an Eta Kappa Nu Outstanding Young Electrical Engineer Award. He has published over 50 technical papers and holds over 20 patents. Christopher Griffin holds a Masters degree in Mathematics from Penn State and is currently pursuing his Ph.D. there. Mr. Griffin has worked as a research engineer at the Penn State Applied Research Laboratory for the last six years on several DARPA and or Army Research Laboratory sponsored programs, including: the Emergent Surveillance Plexus (ESP) program as a lead engineer; the DARPA sponsored Semantic Information Fusion program under the SensIT initiative, where he co-developed a distributed target tracking system and managed the development of a target classification algorithm using Level 1 sensor fusion techniques; as a co-principal software architect for the DARPA Joint Force Component Controller (JFACC) initiative, an adaptive C2 program aimed at improving Air Force response times; and he was the principal software architect for the Boeing/ARFL Insertion of Embedding Infosphere Technology (IEIST) program. His areas of research expertise are distributed tracking systems, mission oriented control, and system modeling.