基于Simulink/VRML的自主水下航行器编队控制仿真  

Simulation of Autonomous Underwater Vehicles Formation Control Based on Simulink and VRML

作　　者：崔荣鑫[1] 徐德民[1] 许喆[1] 严卫生[1] 潘瑛[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《系统仿真学报》2007年第13期2881-2884,2894,共5页Journal of System Simulation

基　　金：教育部新世纪优秀人才支持计划资助(NCET-05)

摘　　要：针对多自主水下航行器编队协同控制问题,建立了基于Leader-Follower编队的数学模型,设计了编队控制律,并从理论上证明了控制律的稳定性。为了直观地表达自主水下航行器编队控制的效果,利用MATLAB的Simulink/VRML工具箱构建了水下航行器的编队控制的可视化仿真模型。仿真结果表明,提出的编队控制算法是有效的,所构建的仿真平台直观地表达了自主水下航行器的编队效果,该仿真模型易于扩展,且可以验证其它编队控制算法。The Leader-Follower formation model was established in order to resolve the formation cooperation problem of Autonomous Underwater Vehicles （A UVs）. Then the formation control law was designed The stability of the control law was proved in theory. In order to show the efficiency of the formation control, the visual simulation model of AUVformation control was established using Simulink and VRML toolbox which supplied by MATLAB. Simulation results show the efficiency of the formation control law that proposed above. The simulation platform expresses the formation of AUVs visually, and it is easy to be expanded and can validate the other formation control law.

关 键 词：自主水下航行器 协同控制 编队控制 可视化仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]