Communication, Feedback and Decentralized Control for Platoons of Underwater Vehicles

Abstract

Since communications bandwidth underwater is severely limited, platoons of underwater vehicles must cooperate with a minimum of direct communication. We present a control strategy for a platoon of underwater vehicles that requires broadcast-only communications from a single vehicle within the platoon. Even as the size of the platoon increases, the bandwidth of required communication remains constant. Our emphasis is on the mathematical developments necessary to prove existence of such a control system. In addition, we briefly describe a control system design procedure and present a simulation-based example.

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Document Details

Document Type
Technical Report
Publication Date
Aug 11, 2000
Accession Number
ADA380389

Entities

People

  • Bradley D. Bishop
  • Daniel J. Stilwell

Tags

Communities of Interest

  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Bandwidth
  • Closed Loop Systems
  • Cognitive Systems Engineering
  • Control Systems
  • Engineering
  • Engineers
  • Feedback
  • Simulations
  • Systems Biology
  • Systems Engineering
  • Underwater Vehicles
  • United States
  • United States Naval Academy
  • Vehicles

Readers

  • Military Science
  • Robotics and Automation.
  • Systems Analysis and Design