基于路径跟踪的欠驱动UUV编队协调控制  

Path tracking-based underactuated UUV formation coordinated control

作　　者：边信黔[1] 牟春晖[1] 张勋[1] 严浙平[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：《华中科技大学学报（自然科学版）》2012年第4期37-42,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：黑龙江省博士后基金资助项目(LBH-Z09242)

摘　　要：研究了空间曲线路径跟踪下多无人水下航行器(UUV)的编队协调控制问题.将此类控制问题分解为2个控制子问题:a.路径跟踪控制问题;b.协调编队控制问题.在单个UUV的路径跟踪控制中利用反步法设计路径跟踪控制器;通过引入代数图论知识,得到多个UUV复杂网络通信拓扑的数学表达,根据通信得到相邻UUV的状态来调整自身的航速,设计协调控制器,使得多UUV沿期望路径的位置和速度在规定队形下达到一致,实现多UUV间的协调,而不影响空间域上的路径跟踪性能.理论分析和仿真结果证实了控制器的有效性.Coordinated control of mu straight line path was addressed. T ltiple unmanned underwater vehicle he control issues were decomposed （UUV） that follows a given into two control sub-issues. a. path tracking control problem; b. coordinated formation control problem. In the path tracking control problem of a single UUV, the lines of sight guidance algorithm were introduced to design the path tracking controller, making the tracking error converges to zero asymptotically. Through the intro- duction of algebraic graph theory, the mathematical expression of multi-UUV complex network com- munication topology was received. The state of these adjacent UUV were obtained to adjust each for- ward speed according to communication, and design the coordination controller, making the location and speed of multi-UUV consistent with each other along the desire path, without affecting the spatial domain and the path tracking performance. It can be seen from the simulation experiments, that the theoretical analysis and results confirm the effectiveness of the controller.

关 键 词：无人水下航行器 路径跟踪 协调控制 欠驱动 李雅普诺夫理论 反步法 图论 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]