基于水下目标定位的领航者-跟随者水下航行器编队控制  

Leader-following formation control for unmanned underwater vehicle with underwater target positioning

作　　者：张旭 张明洋 王子睿 ZHANG Xu;ZHANG Mingyang;WANG Zirui(Shanghai Marine Electronic Equipment Research Institude,Shanghai,201108)

机构地区：[1]上海船舶电子设备研究所,上海201108

出　　处：《指挥控制与仿真》2023年第4期82-86,共5页Command Control & Simulation

摘　　要：自主水下航行器是海战中水下武器的重要组成部分,多水下航行器协同作战可提升整个系统的作业效率与鲁棒性。针对水下航行器领航者-跟随者编队控制中跟随者获取领航者信息的方式,提出了基于水下目标定位方法的领航者-跟随者编队控制框架,设计了基于李雅普诺夫方法的编队控制器,证明闭环系统的一致渐进稳定。最后通过仿真案例佐证了本文的理论成果。Autonomous underwater vehicle(AUV)is an important part of underwater weapon in naval warfare.Cooperative operation of multiple AUV can improve the operational efficiency and the robustness of the whole system.In this paper,according to the method that the follower obtain the information of the leader,a leader-follower formation control framework based on underwater target positioning method is proposed.A formation controller based on Lyapunov method is designed,the consistent asymptotic stability of the closed-loop system is proved.Finally,the theoretical results of this paper are verified by a simulation case.

关 键 词：水下航行器 领航者-跟随者 李雅普诺夫方法 

分 类 号：E925.66[军事—军事装备学]