多拉格朗日航行体编队在量化及噪声下的集结  

Rendezvous for the Lagrange network systems under quantized data exchange and noise

作　　者：王怀龙[1] 吴晓锋[2] 陈云[3] 吴泽伟 

机构地区：[1]海军工程大学电子工程学院,湖北武汉430033 [2]闽南师范大学数学与统计学院,福建漳州363000 [3]海军工程大学信息安全系,湖北武汉430033 [4]海军陆战学院陆战队系,广东广州510430

出　　处：《华中科技大学学报（自然科学版）》2016年第8期46-51,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(11202239;61074012);中国博士后科学基金资助项目(2012M521890)

摘　　要：研究了多拉格朗日航行体编队的集结问题,提出一种与模型相关的右边不连续控制算法,该算法允许航行体之间交互的信息为数字信号,并容许噪声的存在.基于均匀和对数量化器,运用图论、矩阵理论以及微分包含理论,证明控制器的稳定性.研究结果表明:多航行体可以在具有量化和噪声影响的无向通信图下,达到有误差界的集结.通过三自由度(3-DOF)的无人水下航行器(UUV)进行了数值仿真实验,仿真结果验证了算法的有效性.Rendezvous for the Lagrange network systems was investigated under quantized data exchange and noise.A model-dependent and discontinuous right-hand side control algorithm was proposed.Based on the uniform and logarithmic quantizers,the stability of controllers was considered by means of the graph,matrix theory,and the differential inclusion theory.It is shown that the rendezvous for the Lagrange network systems with error bound was achieved under the undirected communication topology.A numerical example for 3-DOF（degree of freedom）UUV（unmanned underwater vehicles）was presented to demonstrate the effectiveness of the algorithms.

关 键 词：拉格朗日航行体 集结 噪声 量化器 微分包含 控制算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]