DocumentCode :
619716
Title :
Synchronized motion of master-slave autonomous underwater vehicles via communication channel with limited capacity
Author :
Zewei Wu ; Xiaofeng Wu
Author_Institution :
Coll. of Electron. Eng., Naval Univ. of Eng., Wuhan, China
fYear :
2013
fDate :
25-27 May 2013
Firstpage :
339
Lastpage :
344
Abstract :
This paper studies synchronized motion of the master-slave autonomous underwater vehicles under the constraints that the capacity of communication channel is limited. The dynamical models of both the master vehicle and slave vehicle are mathematically given in form of fully-actuated Euler-Lagrange equation, and a master-slave motional-state synchronization scheme coupled by a saturated state-error feedback controller is established under the consideration of binary coding-decoding procedure. A definition of robust synchronization with error bound is introduced, then, by means of Lyapunov stability theory, some synchronization criterions are derived and the corresponding synchronization error bound is estimated. Both of the theoretical analyses and the final numerical simulation show that the synchronization error bound is inversely proportional to the channel capacity.
Keywords :
Lyapunov methods; autonomous underwater vehicles; motion control; robust control; state feedback; telecommunication channels; Lyapunov stability theory; binary coding decoding procedure; channel capacity; communication channel; fully actuated Euler-Lagrange equation; limited capacity; master slave autonomous underwater vehicles; master slave motional state synchronization scheme; master vehicle; numerical simulation; state-error feedback controller; synchronization error; synchronized motion; Channel capacity; Master-slave; Mathematical model; Robustness; Synchronization; Vectors; Vehicles; Error bound; Limited channel capacity; Master-salve autonomous underwater vehicles; Saturated state-error feedback; Synchronized motion;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference (CCDC), 2013 25th Chinese
Conference_Location :
Guiyang
Print_ISBN :
978-1-4673-5533-9
Type :
conf
DOI :
10.1109/CCDC.2013.6560945
Filename :
6560945
Link To Document :
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