Title :
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
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;
Conference_Titel :
OCEANS 2009 - EUROPE
Conference_Location :
Bremen
Print_ISBN :
978-1-4244-2522-8
Electronic_ISBN :
978-1-4244-2523-5
DOI :
10.1109/OCEANSE.2009.5278123
