Stability Analysis for the Deployment of Unmanned Surface Vehicles
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
Motion control schemes are generally classified into three categories (point stabilization, trajectory tracking, and pathfollowing). This paper deals with the problem which is associated with the initial deployment of a group of Unmanned SurfaceVehicle (USVs) and corresponding point stabilization. To keep the formation of a group of USVs, it is necessary to set the relationshipbetween each vehicle. A forcing functions such as potential fields are designed to keep the formation and a graphLaplacian is used to represent the connectivity between vehicle. In case of fixed topology of the graph representing the communicationbetween the vehicles, the graph Laplacian is assumed constant. However the graph topologies are allowed to changeas the vehicles move, and the system dynamics become discontinuous in nature because the graph Laplacian changes as timepasses. To check the stability in the stage of deployment, the system is modeled with Kronecker algebra notation. Filippov’scalculus of differential equations with discontinuous right hand sides is then used to formally characterize the behavior ofUSVs. The stability of the system is analyzed with Lyapunov’s stability theory and LaSalle’s invariance principle, and the validityis shown by checking the variation of state norm.
Abstract
Motion control schemes are generally classified into three categories (point stabilization, trajectory tracking, and pathfollowing). This paper deals with the problem which is associated with the initial deployment of a group of Unmanned SurfaceVehicle (USVs) and corresponding point stabilization. To keep the formation of a group of USVs, it is necessary to set the relationshipbetween each vehicle. A forcing functions such as potential fields are designed to keep the formation and a graphLaplacian is used to represent the connectivity between vehicle. In case of fixed topology of the graph representing the communicationbetween the vehicles, the graph Laplacian is assumed constant. However the graph topologies are allowed to changeas the vehicles move, and the system dynamics become discontinuous in nature because the graph Laplacian changes as timepasses. To check the stability in the stage of deployment, the system is modeled with Kronecker algebra notation. Filippov’scalculus of differential equations with discontinuous right hand sides is then used to formally characterize the behavior ofUSVs. The stability of the system is analyzed with Lyapunov’s stability theory and LaSalle’s invariance principle, and the validityis shown by checking the variation of state norm.
참고문헌 (10)
- "The Navy Unmanned Surface Vehicle Master Plan"[URL]
- A Survey of Uninhabited Surface Vehicles, "A. Motwani", Plymouth University, ~, pp.MIDAS.SMSE.2012.TR.001 (2012)
- Unmanned Surface Vehicles - A Survey, "V. Betram", Skibsteknisk Selskab, ~ (2008)
- J. E. Manley, "Unmanned surface vehicles, 15 years of development", Proceedings of MTS, 2008, 1~4
- A. R. Girard, "An overview of emerging results in networked, multi-vehicle systems", Proceedings of the 40th IEEE Conference on Decision and Control, pp.1485~1490 (2001)
- M. Breivik, "Guidance laws for planar motion control", Proceedings of the 47th IEEE Conference on Decision and Control, pp.570~577 (2008)
- A. F. Filippov, "Equations with Discontinuous Righthand Sides" (1988), Kluwer Academic Publishers
- J. Cortes, "Discontinuous dynamical systems : A tutorial on solutions, nonsmooth analysis, and stability", IEEE Control Systems Magazine, 28(9), pp.36~73 (2008)
- H. Khalil, "Nonlinear Systems" (1996), Prentice Hall
- D. Shevitz, "Lyapunov Stability Theory of Nonsmooth Systems", IEEE Transactions of Automatic Control, 39(9), pp.1910~1914 (1994)