Observer-based feedback control for stabilization of collective motion

Collective motion of a multi-vehicle testbed has applications in weather monitoring and ocean sampling. Previous work in this field has produced theoretically justified algorithms for stabilization of parallel and circular motions of self-propelled particles using measurements of relative position and relative velocity. This paper describes an observer-based feedback algorithm for stabilization of parallel and circular motions using measurements of relative position only. This algorithm utilizes information about the particle dynamics and turning rates to estimate the relative velocities. We describe a laboratory-scale underwater vehicle testbed on which the algorithm is being implemented.

[1]  Haiyang Chao,et al.  Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations , 2010 .

[2]  Derek A. Paley,et al.  A multi-vehicle testbed for underwater motion coordination , 2010, PerMIS.

[3]  Zongli Lin,et al.  Flocking of Multi-Agents With a Virtual Leader , 2009, IEEE Transactions on Automatic Control.

[4]  Naomi Ehrich Leonard,et al.  Stabilization of Planar Collective Motion With Limited Communication , 2008, IEEE Transactions on Automatic Control.

[5]  Naomi Ehrich Leonard,et al.  Stabilization of Planar Collective Motion: All-to-All Communication , 2007, IEEE Transactions on Automatic Control.

[6]  Ziyang Meng,et al.  Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking , 2010, Syst. Control. Lett..

[7]  Corina Sandu Engineering Dynamics: A Comprehensive Introduction , 2012 .

[8]  R.M. Murray,et al.  Experimental validation of an algorithm for cooperative boundary tracking , 2005, Proceedings of the 2005, American Control Conference, 2005..

[9]  David G. Schmale,et al.  Path planning for efficient UAV coordination in aerobiological sampling missions , 2008, 2008 47th IEEE Conference on Decision and Control.

[10]  Derek A. Paley,et al.  Three-Dimensional Motion Coordination in a Spatiotemporal Flowfield , 2010, IEEE Transactions on Automatic Control.

[11]  Robert C. Nelson,et al.  Flight Stability and Automatic Control , 1989 .

[12]  Naomi Ehrich Leonard,et al.  Collective Motion, Sensor Networks, and Ocean Sampling , 2007, Proceedings of the IEEE.

[13]  Derek A. Paley,et al.  Motion coordination of planar rigid bodies , 2011, IEEE Conference on Decision and Control and European Control Conference.

[14]  Derek A. Paley,et al.  UAV coordination on convex curves in wind: An environmental sampling application , 2009, 2009 European Control Conference (ECC).

[15]  Kristi A. Morgansen,et al.  Autonomous Underwater Multivehicle Control with Limited Communication: Theory and Experiment , 2008 .

[16]  Wei Ding,et al.  Collective motions and formations under pursuit strategies on directed acyclic graphs , 2010, Autom..

[17]  P. Olver Nonlinear Systems , 2013 .

[18]  Po-Hsiung Lin,et al.  OBSERVATIONS: The First Successful Typhoon Eyewall-Penetration Reconnaissance Flight Mission Conducted by the Unmanned Aerial Vehicle, Aerosonde , 2006 .

[19]  A.C. Sanderson,et al.  Adaptive sampling algorithms for multiple autonomous underwater vehicles , 2004, 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578).

[20]  A. J. Healey,et al.  Application of formation control for multi-vehicle robotic minesweeping , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[21]  Derek A. Paley,et al.  Backstepping control design for motion coordination of self-propelled vehicles in a flowfield , 2011 .

[22]  Derek A. Paley,et al.  Stabilization of Collective Motion in a Time-Invariant Flowfield , 2009 .

[23]  Derek A. Paley,et al.  Multivehicle Coordination in an Estimated Time-Varying Flowfield , 2011 .

[24]  Andrea Garulli,et al.  Experimental validation of collective circular motion for nonholonomic multi-vehicle systems , 2010, Robotics Auton. Syst..