Leader-Following Entrapping Control of AUVs Using Bearing Measurements in Local Coordinate Frames  

作　　者：Yingbo Fu Ziwen Yang Shanying Zhu Cailian Chen 

机构地区：[1]Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,P.R.China [2]Key Laboratory of System Control and Information Processing,Ministry of Education of China,Shanghai 200240,P.R.China Shanghai Engineering Research Center of Intelligent Control and Management,Shanghai 200240,P.R.China

出　　处：《Guidance, Navigation and Control》2022年第4期85-121,共37页制导、导航与控制（英文）

基　　金：supported by the National Natural Science Foundation of China(61922058,62025305);the Fellowship of China National Postdoctoral Program for Innovative Talents(BX2021181).

摘　　要：In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is studied.To achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning unit.With bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local localization.Based on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary shape.We present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time system.Moreover,the parameters tuning unit can calculate optimal parameters to improve overall performance.Additionally,we extend our schemes to nonholonomic AUVs with unicycle models.Finally,simulation results demonstrate the effectiveness of the proposed scheme.

关 键 词：Entrapping control discrete-time AUVs bearing measurements local coordinate frames 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U664.82[自动化与计算机技术—控制科学与工程]