A Distributed, Passivity-Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network

Authors

F. Fabiani, D. Fenucci, T. Fabbri, A. Caiti

Abstract

This paper presents a cooperative and distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communication constraints. Virtual couplings define interaction control forces between neighbouring vehicles. Moreover, the couplings are designed to enforce a desired vehicle-vehicle and vehicle-target spacing. The whole network is modelled in the passive, energy-based, port-Hamiltonian framework. Such framework allows to prove closed-loop stability using the whole system kinetic and virtual potential energy by constructing a suitable Lyapunov function. Furthermore, the robustness to communication delays is also demonstrated. Simulation results are given to illustrate the effectiveness of the proposed approach.

Keywords

Autonomous vehicles; Co-operation; Co-ordination; Distributed control; Passivity; Port-Hamiltonian

Citation

• Journal: IFAC-PapersOnLine
• Year: 2016
• Volume: 49
• Issue: 23
• Pages: 367–372
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2016.10.432
• Note: 10th IFAC Conference on Control Applications in Marine SystemsCAMS 2016- Trondheim, Norway, 13—16 September 2016

BibTeX

@article{Fabiani_2016,
  title={{A Distributed, Passivity-Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network}},
  volume={49},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2016.10.432},
  number={23},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Fabiani, F. and Fenucci, D. and Fabbri, T. and Caiti, A.},
  year={2016},
  pages={367--372}
}

Download the bib file

References

• Caiti, A., Calabrò, V., Dini, G., Lo Duca, A. & Munafò, A. Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network. Sensors vol. 12 1967–1989 (2012) – 10.3390/s120201967
• Caiti, Potential games and AUVs cooperation: First results from the THESAURUS project. OCEANS - Bergen, 2013 MTS/IEEE (2013)
• Caiti, A. et al. Linking Acoustic Communications and Network Performance: Integration and Experimentation of an Underwater Acoustic Network. IEEE Journal of Oceanic Engineering vol. 38 758–771 (2013) – 10.1109/joe.2013.2279472
• Curtin, T., Bellingham, J., Catipovic, J. & Webb, D. Autonomous Oceanographic Sampling Networks. Oceanography vol. 6 86–94 (1993) – 10.5670/oceanog.1993.03
• Duindam, (2009)
• Franchi, A., Robuffo Giordano, P., Secchi, C., Son, H. I. & Bulthoff, H. H. A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology. 2011 IEEE International Conference on Robotics and Automation 898–905 (2011) doi:10.1109/icra.2011.5980368 – 10.1109/icra.2011.5980368
• Hokayem, P. F. & Spong, M. W. Bilateral teleoperation: An historical survey. Automatica vol. 42 2035–2057 (2006) – 10.1016/j.automatica.2006.06.027
• Leonard, N. E. & Fiorelli, E. Virtual leaders, artificial potentials and coordinated control of groups. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 3 2968–2973 – 10.1109/cdc.2001.980728
• Maschke, Port-controlled Hamiltonian systems: modelling origins and system theoretic properties. (1993)
• Mesbahi, (2010)
• Pasumarthy, R. & Kao, C.-Y. On stability of time delay Hamiltonian systems. 2009 American Control Conference 4909–4914 (2009) doi:10.1109/acc.2009.5160619 – 10.1109/acc.2009.5160619
• Secchi, C., Stramigioli, S. & Fantuzzi, C. Transparency in Port-Hamiltonian-Based Telemanipulation. IEEE Transactions on Robotics vol. 24 903–910 (2008) – 10.1109/tro.2008.924941
• Stojanovic, M. On the relationship between capacity and distance in an underwater acoustic communication channel. ACM SIGMOBILE Mobile Computing and Communications Review vol. 11 34–43 (2007) – 10.1145/1347364.1347373