考虑时延约束的UUV密集集群自适应聚集控制方法  

Adaptive Flocking Control for Crowded UUV Swarmwith Time-Delay Constraint

作　　者：梁洪涛 康凤举[2] LIANG Hongtao;KANG Fengju(School of Physics and Information Technology,Shaanxi Normal University,Xi’an 710119,China;School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an,710072,China)

机构地区：[1]陕西师范大学物理学与信息技术学院,陕西西安710119 [2]西北工业大学航海学院,陕西西安710072

出　　处：《水下无人系统学报》2023年第2期221-228,258,共9页Journal of Unmanned Undersea Systems

基　　金：国家自然基金(62203286);陕西省自然科学基金(2022JM-312);中央高校基本科研业务费专项项目(GK202103014)。

摘　　要：针对时延条件下无人水下航行器(UUV)集群聚集控制问题,受不同尺度生物仿生机理启发,提出一种密集集群自适应聚集控制方法。首先,设计考虑近邻数量和空间分布的仿生邻居筛选机制,以此建立单近邻跟随与多近邻跟随耦合的自适应集群结队交互模型,确保交互邻居在数量和空间上最优。其次,结合结对交互模型与一致性协议、势场函数模型和扰动观测器,设计时延约束的UUV密集集群自适应聚集控制方法,避免集群发生碰撞和分裂。最后,通过Lyapunov定理证明时延条件下UUV密集集群状态一致性以及避碰和连通性保持。仿真结果验证了所设计控制方法的有效性和优越性。To address the flocking control problem of a crowded unmanned undersea vehicle(UUV)swarm under time-delayconstraints,an adaptive flocking control approach was investigated using a multiscale bio-inspired mechanism.First,anadaptive flocking interaction model with a bio-inspired optimal neighbor selection strategy was established to robustly switchbetween single neighbor following and multiple neighbors following,which ensures the minimum quantity and optimaldistribution.Second,considering time-delay constraints,a flocking controller was developed by incorporating a consensusprotocol,potential field function model,and disturbance observer into the proposed interaction model,thereby guaranteeingcollision avoidance and connectivity maintenance.Finally,by virtue of the Lyapunov theorem,state consensus under the time-delay condition is proved.Simulation results verify the effectiveness and superiority of the proposed control method.

关 键 词：无人水下航行器 聚集控制 时延约束 避碰 连通性保持 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程] U674.941[交通运输工程—船舶及航道工程]