具有通信约束的多UUV协调路径跟踪控制  

Coordinated Path Tracking Control of Multi-UUV with Communication Constraint

作　　者：牟春晖[1] 边信黔[1] 王宏健[1] 李娟[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《鱼雷技术》2011年第3期195-200,共6页Torpedo Technology

基　　金：国家自然科学基金(E091002/50979017);中央高校基金(HEUCF110402)

摘　　要：针对多UUV间通过水声通信进行交互信息时存在时延的问题,研究了在通信时滞下多UUV沿多条给定路径编队运动的控制器设计问题。基于反步法设计了单个UUV的路径跟踪控制器,利用Lyapunov理论证明了路径跟踪控制系统是输入-状态稳定;针对通信拓扑中存在固定传输延迟问题,提出了基于平均一致连通性切换网络的时延协调控制律,并证明了当通信拓扑对应的无向图满足平均一致连通时,设计的编队控制系统是稳定的,有效地解决了通信时滞下多UUV的协调路径跟踪控制问题。仿真结果验证了该控制器的有效性。Time delay exists in the underwater acoustic communication among UUVs.The purpose of this paper is to study multi-UUV coordinated control with time delay in communication for the path tracking of UUV formation.The path tracking controller of single UUV is designed based on backstepping method,and the path tracking control system is proved in-put-to-state stable by Lyapunov theory.Considering the fixed time delays in communication topology,a coordinated controller under time-delay based on uniformly connected in mean is proposed.It is proved that the designed formation control system is asymptotically stable if the undirected graph associated with the communication topology is uniformly connected in mean.The controller can effectively perform the coordinated path tracking control under time delay in communication for UUV forma-tion.Simulation result shows its effectiveness.

关 键 词：多UUV 路径跟踪 协调控制 通信时滞 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] U674.76[交通运输工程—船舶及航道工程]