Distributed formation control for collaborative tracking of manifolds in flows

Matthew Michini, Hossein Rastgoftar, M. Ani Hsieh, Suhada Jayasuriya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

We address the development of a distributed control strategy for tracking Lagrangian coherent structures (LCS) in a geophysical fluid environment like the ocean. LCS are time-dependent structures that divide the flow into dynamically distinct regions and are important because they enable the estimation of the underlying geophysical fluid dynamics. In this work, we present a distributed formation control strategy designed to track stable and unstable manifolds. We build on our existing work and present an N-robot leader-follower tracking strategy that relies solely on local sensing, prediction, and correction. Our approach treats the N-robot team as a deformable body where distributed formation control for tracking coherent structures and manifolds is achieved using a sequence of homogeneous maps. We discuss the theoretical guarantees of the proposed strategy and validate it in simulation on static flows as well as the time-dependent model of a wind-driven double-gyre often seen in the ocean.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3874-3880
Number of pages7
ISBN (Print)9781479932726
DOIs
StatePublished - 2014
Externally publishedYes
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2014 American Control Conference, ACC 2014
Country/TerritoryUnited States
CityPortland, OR
Period6/4/146/6/14

Keywords

  • (Under)water vehicles
  • Autonomous systems
  • Cooperative control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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