海流干扰下的多UUV编队路径跟踪  

Path Following Control of Multi-UUV Formation Disturbed by Current

作　　者：侯恕萍[1] 白锐[2] 严浙平[2] 牟春晖[2] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国造船》2013年第4期126-136,共11页Shipbuilding of China

基　　金：国家自然科学基金(51109043);教育部新世纪优秀人才支持计划资助(NCET-10-0053);黑龙江省自然科学基金(E201123)资助项目

摘　　要：论文主要研究多UUV编队在海流干扰下进行空间曲线路径跟踪的问题,并将其分为单个UUV的路径跟踪和多UUV编队协调控制两个子问题,提出了结合编队协调策略的跟踪方法。在路径跟踪问题中,设计了海流观测器以得到未知的恒定海流速度,并将其视为对UUV运动的外界干扰,基于此进一步构建了UUV运动学路径跟踪器。利用Lyapunov理论证明了系统轨迹在观测器和非线性控制律作用下的有界性和收敛性。在多UUV编队协调控制中,将控制问题转化为图论的形式,利用图论的相关理论对信息协调同步策略进行分析,基于编队协调策略设计了协调控制器,实现编队稳定,仿真验证了该算法是有效可行的。The paper proposed an algorithm for path following of multi-UUVs, combined with coordinated control of formation strategies, which could solve the problem of curved path following in the space with the disturbance of current. It is divided into two sub-problems： tracking of single vehicle and coordinated control of formation. Firstly, a current observer is designed for obtaining constant current speed, which is regarded as the outside disturbance of vehicle motion. Secondly, a UUV kinematical path tracker is built based on the current observer. Boundedness and convergence of the vehicle trajectory under the action of both the observer and the nonlinear control law are proved with Lyapunov＇s theory. Lastly, for the coordinated control of multiple UUV formation, the control problem is converted into the form of graph theory and the information on synchronization strategy is analyzed with the relationships in graph theory. A coordinated controller isdesigned and stable formation is achieved. The Simulation showed the validity of the algorithm in the application to special tracking process for the formation ofmulti-UUVs.

关 键 词：欠驱动UUV 海流观测器 路径跟踪 协调编队 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]