弱通信条件下多UUV编队队形协同控制方法研究  

Research on Formation Cooperative Control Method of Multi-UUV Formation Under Weak Communication Conditions

作　　者：王小宁[1] 段肖瑞 张国龙[1] WANG Xiaoning;DUAN Xiaorui;ZHANG Guolong(No.91388 Troops of PLA,Zhanjiang 524022;No.92229 Troops of PLA,Lingshui 572400)

机构地区：[1]中国人民解放军91388部队,湛江524022 [2]中国人民解放军92229部队,陵水572400

出　　处：《舰船电子工程》2023年第6期179-183,共5页Ship Electronic Engineering

摘　　要：论文针对水声弱通信条件下多UUV编队队形协同控制存在的稳定性和一致性差的问题,建立了多UUV编队协同控制模型,分析队形稳定控制的主要约束,按照一致性算法和预测机制,研究了通信延时和失败情况下多UUV编队有效控制的方法,通过仿真验证了算法的有效性。This paper mainly aims at the problems of poor stability and consistency of multi-UUV formation cooperative con⁃trol under the condition of weak underwater acoustic communication,and establishes a multi-UUV formation cooperative control model.After analyzing the main constraints of formation stability control,according to the consensus algorithm and prediction mech⁃anism,the effective control method of multi-UUV formation in the case of communication delay and failure is studied,and the effec⁃tiveness of the algorithm is verified by simulation.

关 键 词：UUV编队 弱通信 协调控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]