多UUV沿多条给定路径运动的协调编队控制  

Coordinated control for multi-UUV formation motion on a set of given paths

作　　者：边信黔[1] 牟春晖[1] 严浙平[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2013年第1期106-111,共6页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(51179038)

摘　　要：研究了在三维空间中多UUV的协调路径跟踪控制问题.应用分散控制策略将路径跟踪问题和个体间的速度协调编队解耦.在单个UUV的路径跟踪控制中引入视距导航(line of sight guidance)算法设计路径跟踪控制器,使得跟踪误差渐近收敛到零;引用图论知识设计协调控制器,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.This paper addresses the problem of multi-UUV along given spatial paths with a given forward speed profile while holding a desired formation pattern in three-dimensional space.The decentralized controller is proposed to realize the coordinated path tracking of multi-UUV.In the path tracking control problem of a single UUV,we introduce line of sight navigation algorithm to design path tracking controller,making the tracking error converges to zero asymptotically;introduce graph theory to design coordination controller,making the multi-UUV reach consensus under the provisions formation along the position of desired path and speed,reaching coordination between multi-UUV,without affecting the path tracking performance in spatial domain.

关 键 词：多UUV 协调控制 路径跟踪 视距导航 图论 

分 类 号：U661[交通运输工程—船舶及航道工程]