scholarly journals Formation Control of Swarming Vessels Using a Virtual Matrix Approach and ISOT Guidance Algorithm

Processes ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 1581
Author(s):  
Su-Rim Kim ◽  
Hyun-Jae Jo ◽  
Jung-Hyeon Kim ◽  
Jong-Yong Park
Keyword(s):  
Formation Control ◽  
Isosceles Triangle ◽  
Matrix Approach ◽  
Geometric Center ◽  
Effective Operation ◽  
The Matrix ◽  
Guidance Algorithm ◽  
Efficiency Comparison ◽  
Virtual Leader ◽  
Matrix Center

The formation control for the effective operation of multiple vessels is discussed. First, a virtual matrix approach is proposed to improve the formation robustness and transform performance during swarm operations, which is created based on the virtual leader vessel location, and agents composing the formation follow cells in the matrix to maintain formation. This approach is affected by the virtual leader vessel location. The virtual leader vessel location is defined by two cases: matrix center and geometric center; furthermore, robustness and efficiency comparison simulations are performed. The simulation results show that in most formations, the geometric center is better in terms of efficiency and robustness. Second, the isosceles triangle guidance algorithm is proposed to improve the “go-back behavior” of certain agents during excessive maneuvering. Through a waypoint-following simulation, the algorithm is confirmed to be superior to the line-of-sight guidance algorithm. The swarm simulation on the virtual map verifies the performance of the proposed formation n control and guidance algorithm.

scholarly journals Anisotropic Metamaterials Filled Rectangular Metallic Waveguides Propagation Study and Analysis

2021 ◽  
pp. 34-43
Author(s):  
Nizar Tahri
Keyword(s):  
Control Strategy ◽  
Orthonormal Basis ◽  
Matrix Approach ◽  
Transmission Coefficients ◽  
Anisotropic Metamaterials ◽  
Waveguide Filters ◽  
S Matrix ◽  
The Matrix ◽  
The Galerkin Method ◽  
Transverse Fields

In this paper, we propose a novel generalized S-matrix characterization approach. The goal is to keep track of all observed discontinuities as efficiently as possible. In terms of reflection value, the proposed control strategy is based on transmission coefficients and one-axis rectangular guides. We successfully manipulate metal rectangular waveguide filters with both geometrical and physical discontinuity. Lossless discontinuity is depicted as a periodic structure that contains Metamaterials. The modal development of transverse fields provides the basis for the generalized S-matrix approach. The approach works by breaking down electromagnetic fields for each of the guides that make up the discontinuity on an orthonormal basis. When the Galerkin method is used, the matrix of diffraction of the junction is obtained directly.

Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin

2021 ◽  
Vol 33 (1) ◽  
pp. 151-157
Author(s):  
Akihiro Okamoto ◽  
◽  
Motonobu Imasato ◽  
Shunka C. Hirao ◽  
Hidenori Sekiguchi ◽  
...  
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Control Algorithms ◽  
Prototype System ◽  
Large Size ◽  
Constant Distance ◽  
Virtual Leader ◽  
Vital Factor ◽  
Fundamental Experiment

The formation control of multiple autonomous underwater vehicles (AUVs) is increasingly becoming a vital factor in enhancing the efficiency of ocean resources exploration. However, it is currently difficult to deploy such a package of AUVs for operation at sea because of their large size. The aim of our study is to create a demonstration system for formation control algorithms using actual hardware. To implement a prototype system, we developed a testbed AUV usable in a test basin and performed a simple formation control test in the Actual Sea Model Basin of the National Maritime Research Institute, Japan. Two AUVs, the simulated “virtual” leader and the developed “real” follower, communicate through an acoustic link and hence cruise to maintain a constant distance between them. Tests for more sophisticated formation control algorithms will be enabled using the system; consequently rapid implementation at sea will be realized.

scholarly journals The Lynden-Bell bar formation mechanism in simple and realistic galactic models

2020 ◽  
Vol 498 (3) ◽  
pp. 3368-3373
Author(s):  
E V Polyachenko ◽  
I G Shukhman
Keyword(s):  
Perturbation Theory ◽  
Angular Momentum ◽  
Formation Mechanism ◽  
Linear Perturbation ◽  
Matrix Approach ◽  
Precession Rate ◽  
Secular Evolution ◽  
The Matrix ◽  
Linear Perturbation Theory ◽  
Bar Formation

ABSTRACT Using the canonical Hamilton–Jacobi approach we study the Lynden-Bell concept of bar formation based on the idea of orbital trapping parallel to the long or short axes of the oval potential distortion. The concept considered a single parameter – a sign of the derivative of the precession rate over angular momentum, determining the orientation of the trapped orbits. We derived a perturbation Hamiltonian that includes two more parameters characterizing the background disc and the perturbation, which are just as important as the earlier known one. This allows us to link the concept with the matrix approach in linear perturbation theory, the theory of weak bars, and explain some features of the non-linear secular evolution observed in N-body simulations.

scholarly journals Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Zhaoxia Peng ◽  
Shichun Yang ◽  
Guoguang Wen ◽  
Ahmed Rahmani
Keyword(s):  
Control Problem ◽  
Mobile Robots ◽  
Formation Control ◽  
Control Strategies ◽  
Reference Trajectory ◽  
Consensus Problem ◽  
Distributed Consensus ◽  
Nonholonomic Mobile Robots ◽  
Robust Adaptive ◽  
Virtual Leader

This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

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