An MMB-MDS based approach to event-triggered affine formation control for multiples UUVs

This paper concentrates on the affine formation control problem for multiple unmanned underwater vehicles (UUVs) under mixed distance and bearing measurements. A distributed formation control strategy is developed to control all UUVs to a desired affine formation by integrating a mixed measurement based multi-dimensional scaling (MMB-MDS) algorithm and a discontinuous event-triggered mechanism. The control law design consists of two parts: one is a localization step using the MMB-MDS method to convert distance and bearing information into relative position information in a local coordinate frame, which reduces the complexity for stability analysis raised the mixture of distances and bearings; the other step is to control all UUVs under a distributed and discontinuous event-triggered based protocol to achieve a desired affine formation shape, which reduces the updating frequency of control inputs and communication. Simulation results are provided to illustrate the effectiveness of the proposed control schemes.

Automated summary

This paper focuses on the affine formation control problem for multiple unmanned underwater vehicles (UUVs) under mixed distance and bearing measurements. A distributed formation control strategy is developed by integrating a mixed measurement based multi-dimensional scaling (MMB-MDS) algorithm and a discontinuous event-triggered mechanism, achieving the desired affine formation shape for all UUVs.