A passivity-based framework for coordinated distributed control of AUV teams: Guaranteeing stability in presence of range communication constraints

Authors

Filippo Fabiani, Davide Fenucci, Tommaso Fabbri, Andrea Caiti

Abstract

This paper presents a cooperative, distance-based, distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communications constraints. The classic graph theory provides the essential tools to model the whole network of interacting robots, which is then handled within the energy-based, port-Hamiltonian framework. The virtual interaction forces generated over each link are represented by visco-elastic couplings. The passivity theory allows the construction of a Lyapunov function for the closed loop system to demonstrate the stability in large of the whole network with the synthesized control law. Moreover, always using passivity-based techniques, the behaviour of the group is made as flexible as possible with arbitrary split and join events. Several software simulations, involving a team or sub-teams of agents that perform typical missions in marine environment, show the effectiveness of the proposed approach.

Citation

• Journal: OCEANS 2016 MTS/IEEE Monterey
• Year: 2016
• Volume:
• Issue:
• Pages: 1–5
• Publisher: IEEE
• DOI: 10.1109/oceans.2016.7761253

BibTeX

@inproceedings{Fabiani_2016,
  title={{A passivity-based framework for coordinated distributed control of AUV teams: Guaranteeing stability in presence of range communication constraints}},
  DOI={10.1109/oceans.2016.7761253},
  booktitle={{OCEANS 2016 MTS/IEEE Monterey}},
  publisher={IEEE},
  author={Fabiani, Filippo and Fenucci, Davide and Fabbri, Tommaso and Caiti, Andrea},
  year={2016},
  pages={1--5}
}

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
• 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
• 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
• 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
• Franchi, A., Secchi, C., Hyoung Il Son, Bulthoff, H. H. & Giordano, P. R. Bilateral Teleoperation of Groups of Mobile Robots With Time-Varying Topology. IEEE Transactions on Robotics vol. 28 1019–1033 (2012) – 10.1109/tro.2012.2196304
• Caiti, A., Fabbri, T., Fenucci, D. & Munafo, A. Potential games and AUVs cooperation: First results from the THESAURUS project. 2013 MTS/IEEE OCEANS - Bergen 1–6 (2013) doi:10.1109/oceans-bergen.2013.6608165 – 10.1109/oceans-bergen.2013.6608165
• Secchi, C., Stramigioli, S. & Fantuzzi, C. Position Drift Compensation in Port-Hamiltonian Based Telemanipulation. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (2006) doi:10.1109/iros.2006.281915 – 10.1109/iros.2006.281915
• Fabiani, F., Fenucci, D., Fabbri, T. & Caiti, A. A Distributed, Passivity-Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network. IFAC-PapersOnLine vol. 49 367–372 (2016) – 10.1016/j.ifacol.2016.10.432
• 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
• Hokayem, P. F. & Spong, M. W. Bilateral teleoperation: An historical survey. Automatica vol. 42 2035–2057 (2006) – 10.1016/j.automatica.2006.06.027
• Curtin, T., Bellingham, J., Catipovic, J. & Webb, D. Autonomous Oceanographic Sampling Networks. Oceanography vol. 6 86–94 (1993) – 10.5670/oceanog.1993.03