面向海流扰动和通信时延的欠驱动AUV编队跟踪控制  

Tracking Control of Underactuated Autonomous Underwater Vehicle Formation under Current Disturbance and Communication Delay

作　　者：丁文俊[1,2] 张国宗 刘海旻 柴亚军 王驰宇 毛昭勇[1] DING Wengjun;ZHANG Guozong;LIU Haimin;CHAI Yajun;WANG Chiyu;MAO Zhaoyong(Unmanned System Research Institute,Northwestern Polytechnical University,Xi'an 710072,Shaanxi,China;Research Institute of Xi'an Jiaotong University,Hangzhou 311200,Zhejiang,China;Systems Engineering Research Institute,China State Shipbuilding Corporation Limted,Beijing 100094,China)

机构地区：[1]西北工业大学无人系统技术研究院,陕西西安710072 [2]浙江西安交通大学研究院,浙江杭州311200 [3]中国船舶集团有限公司系统工程研究院,北京100094

出　　处：《兵工学报》2024年第1期184-196,共13页Acta Armamentarii

基　　金：国家自然科学基金项目(51909206);中国博士后科学基金项目(2021M692616);陕西省自然科学基础研究计划项目(2019JQ-607);浙江省自然科学基金项目(LQ20E090010);中央高校基本科研业务费专项资金项目(31020200QD044)。

摘　　要：由欠驱动自主水下航行器(Autonomous Underwater Vehicle,AUV)编队组成的水下探测阵列具有响应快、机动性好、智能化程度高的特点。针对无速度信息传输的多AUV在海流和时延复合扰动下的编队控制问题,提出一种虚拟轨迹、轨迹预测、自适应反演滑模控制技术相结合的编队控制方法。使用领航者的位置信息和期望队形得到跟随者的参考轨迹,并引入虚拟轨迹使其与跟随者参考轨迹有限时间重合,从而得到跟随者的期望位置和速度。在此基础上,使用最小二乘法拟合轨迹曲线进行时延补偿,并通过自适应反演滑模控制技术完成海流干扰下的编队轨迹跟踪。理论分析和仿真结果表明,新方法具有可行性和有效性。The underwater detection array composed of underactuated autonomous underwater vehicle(AUV)formation has the fast response,good maneuverability,and high intelligence.For the formation control problem of multi-autonomous underwater vehicles without speed information transmission under the combined disturbance of current and time delay,a formation control method which combines the virtual trajectory,trajectory prediction,and adaptive inversion sliding mode control technique is proposed.The position information of navigator and the expected formation are used to obtain the reference trajectory of follower,and introduce a virtual trajectory to make it coincide with the reference trajectory for a finite time,thereby obtaining the expected position and velocity of the follower.On this basis,the least squares method is used to fit the trajectory curve to compensate for the delay,and to complete the formation trajectory tracking under the interference of current through the adaptive backstepping sliding mode control technology.The theoretical analysis and simulated results indicate that the designed method is feasible and effective.

关 键 词：欠驱动自主水下航行器 编队控制 自适应反演滑模控制 虚拟轨迹 时延 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]