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Leader-Following Entrapping Control of AUVs Using bearing measurements in Local Coordinate Frames

Guidance, Navigation and Control 2022年第4期2卷 85-121页

作者： Yingbo Fu Ziwen Yang Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong UniversityShanghai 200240P.R.China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240P.R.China Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240P.R.China

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is *** achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning *** bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local *** on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary *** present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time ***,the parameters tuning unit can calculate optimal parameters to improve overall ***,we extend our schemes to nonholonomic AUVs with unicycle ***,simulation results demonstrate the effectiveness of the proposed scheme.

关键词： Entrapping control discrete-time AUVs bearing measurements local coordinate frames

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2-D distributed pose estimation of multi-agent systems using bearing measurements

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Journal of Automation and Intelligence 2023年第2期2卷 70-78页

作者： Xu Fang Jitao Li Xiaolei Li Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore College of Mechanical and Electrical Engineering Harbin Engineering University150001China School of Electrical Engineering Yanshan University066004China

This article studies distributed pose(orientation and position)estimation of leader–follower multi-agent systems over𝜅-layer graphs in 2-D *** the leaders have access to their orientations and positions,while the followers can measure the relative bearings or(angular and linear)velocities in their unknown local coordinate *** the orientation estimation,the local relative bearings are used to obtain the relative orientations among the agents,based on which a distributed orientation estimation algorithm is proposed for each follower to estimate its *** the position estimation,the local relative bearings are used to obtain the position constraints among the agents,and a distributed position estimation algorithm is proposed for each follower to estimate its position by solving its position *** the orientation and position estimation errors converge to zero asymptotically.A simulation example is given to verify the theoretical results.

关键词： Pose estimation Distributed algorithm bearing measurements Multi-agent system Local coordinate frame 2-D plane

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