无速度测量下基于信息耦合度的自主水下航行器分群控制算法  

Information Coupling Degree-based Fission Control Algorithm for Autonomous Underwater Vehicles without Velocity Measurements

作　　者：杨盼盼[1] 刘明雍[1] 雷小康[1] 武小金[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《兵工学报》2015年第5期891-897,共7页Acta Armamentarii

基　　金：国家自然科学基金项目(51179156;51379176)

摘　　要：自主水下航行器(AUV)的分群控制,表征为AUV群集在外部刺激下自发分裂成多个子群的行为。针对无速度测量下AUV群集(SAUV)的分群控制问题,提出了一种基于信息耦合度的分群控制算法。该算法利用信息耦合度表征AUV间的交互作用强度,并通过对个体运动的动态调节实现群集行为的分化。在此基础上,针对AUV分群过程中无速度测量的情况,通过设计分布式观测器对邻居速度信息进行实时估计,并将最大信息耦合度邻居的位置信息融入分群控制律中,实现了外部刺激下AUV群集的自发分群运动。理论分析和仿真实验均验证了所提分群控制算法的可行性和有效性。The fission control of autonomous underwater vehicles（AUV）presents a behavior of that a cohesive AUV swarm is split into multiple sub-swarms under external stimulus.An information coupling degree-based fission control algorithm is proposed for the fission control of swarm AUVs （SAUVs） without velocity measurements.Information coupling degree is utilized to denote the interaction intensity between AUVs,which realizes the behavior divergence of AUVs by adjusting their motion states.For the absence of velocity measurements,a distributed velocity observer is designed to estimate the velocities of AUVs in real time.By integrating the position information of the most correlated neighbor into the fission control law,the spontaneous fission behavior of AUVs can be achieved without velocity measurements.Both theoretical analysis and experimental simulation demonstrate the feasibility and effectiveness of the proposed fission control algorithm.

关 键 词：控制科学与技术 自主水下航行器 分群控制 信息耦合度 速度观测器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]