摘要
Formation control is essential for an underwater mobile sensing network(UMSN) ,and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications,to fulfill mobile sensing tasks.The problem of formation control for a UMSN with varying topology is studied in this paper.The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.
Formation control is essential for an underwater mobile sensing network （UMSN）, and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications, to fulfill mobile sensing tasks. The problem of formation control for a UMSN with varying topology is studied in this paper. The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.
基金
the National High Technology Research and Development Program (863) of China (No.2006AA09Z233)
