Formation stabilization of underwater mobile sensing networks

Author

Feng, Z. ; Allen, Robert

Author_Institution

Sch. of Naval Archit., Ocean & Civil Eng., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2009

Firstpage

1

Lastpage

4

Abstract

Formation control is essential for an underwater mobile sensing network (UMSN), 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 stabilization for an UMSN with varying communication topology is studied in this paper. Sufficient condition of formation stability is proposed in terms of stability analysis of linear time varying system and spectrum analysis of graph Laplacian of communication topology. Moreover, a design procedure for synthesis of formation controller is given.

Keywords

Laplace equations; ad hoc networks; network topology; spectral analysers; stability; telecommunication control; time-varying systems; underwater acoustic communication; underwater vehicles; wireless sensor networks; Laplacian graph; acoustic communications; ad hoc network; formation control; linear time varying system; spectrum analysis; stability analysis; underwater mobile sensing networks; underwater vehicles; varying communication topology; Ad hoc networks; Communication system control; Mobile communication; Network topology; Stability analysis; Sufficient conditions; Time varying systems; Underwater acoustics; Underwater communication; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2009 - EUROPE

Conference_Location

Bremen

Print_ISBN

978-1-4244-2522-8

Electronic_ISBN

978-1-4244-2523-5

Type

conf

DOI

10.1109/OCEANSE.2009.5278123

Filename

5278123