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Algebraic-Connectivity-Based Multi-USV Distributed Formation Method via Adding a Reverse Edge

Author

Listed:
  • Jingchen Wang

    (School of Navigation, Dalian Maritime University, Dalian 116026, China)

  • Qihe Shan

    (School of Navigation, Dalian Maritime University, Dalian 116026, China)

  • Jun Zhu

    (Research Institute of Intelligent Networks, Zhejiang Lab, Hangzhou 311121, China)

  • Xiaofeng Cheng

    (Research Institute of Intelligent Networks, Zhejiang Lab, Hangzhou 311121, China)

  • Baoze Wei

    (Department of Energy Technology, Aalborg University, 9220 Aalborg, Denmark)

Abstract

This paper concerns the formation problem in multi-USV cluster formation containment tracking tasks with a special topology. A topology reconstruction method was proposed that enables the followers’ formation to be dispersed while achieving the fastest convergence rate for the system. This topology structure is based on tree topology and DAG (directed acyclic graph) local structure stem as prototypes, using the principle of adding reverse edges on the stem to reduce algebraic connectivity. By adding a reverse edge to obtain a more dispersed formation, a method for selecting appropriate reverse edges was achieved. Through relevant theoretical quantitative and qualitative analysis, it was demonstrated that adding this reverse edge can enable the system to achieve the fastest convergence rate. Finally, through simulation experiments, it was verified that the selected reverse edge can optimize the formation of followers and achieve the fastest convergence rate.

Suggested Citation

  • Jingchen Wang & Qihe Shan & Jun Zhu & Xiaofeng Cheng & Baoze Wei, 2023. "Algebraic-Connectivity-Based Multi-USV Distributed Formation Method via Adding a Reverse Edge," Mathematics, MDPI, vol. 11(13), pages 1-22, June.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:13:p:2942-:d:1183995
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    References listed on IDEAS

    as
    1. Ming-Feng Ge & Chang-Duo Liang & Xi-Sheng Zhan & Chao-Yang Chen & Guanghui Xu & Jie Chen, 2020. "Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms," Complexity, Hindawi, vol. 2020, pages 1-18, February.
    2. Li, Lili & Tuo, Yulong & Li, Tieshan & Tong, Meijuan & Wang, Shasha, 2022. "Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks," Applied Mathematics and Computation, Elsevier, vol. 422(C).
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