基于自适应视距制导的无人潜航器三维协同路径跟踪控制  

Three-dimensional cooperative path following control of unmanned underwater vehicles based on adaptive line of sight guidance

作　　者：王浩亮[1,2,3,4] 于德智 卢丽宇 张卫东 彭周华[3,4,5] WANG Hao-liang;YU De-zhi;LU Li-yu;ZHANG Wei-dong;PENG Zhou-hua(Marine Engineering College,Dalian Maritime University,Dalian 116026,China;School of Electronics,Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships,Dalian 116026,China;State Key Laboratory of Maritime Technology and Safety,Dalian 116026,China;Marine Electrical Engineering College,Dalian Maritime University,Dalian 116026,China;School of Information and Communication Engineering,Hainan University,Haikou 570228,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]上海交通大学电子信息与电气工程学院,上海200240 [3]大连市智能船艇集群控制与电气技术重点实验室,辽宁大连116026 [4]水路交通控制全国重点实验室,辽宁大连116026 [5]大连海事大学船舶电气工程学院,辽宁大连116026 [6]海南大学信息与通信工程学院,海口570228

出　　处：《控制与决策》2025年第1期242-251,共10页Control and Decision

基　　金：新一代人工智能国家科技重大专项项目(2022ZD0119902);国家自然科学基金项目(52071044);辽宁省自然科学基金项目(博士科研启动计划)(2023-BS-077);中国博士后科学基金项目(2024M751980);大连市基础重大项目(2023JJ11CG008);水路交通控制全国重点实验室开放课题(SKLMTA-DMU2024Y3);大连海事大学博联科研基金项目/中央高校基本科研业务费专项资金项目(3132023616)。

摘　　要：针对跟踪路径复杂、立体空间运动、模型参数动态变化、风浪流扰动下的多无人潜航器(unmanned underwater vehicle,UUV)协同路径跟踪问题开展研究.首先,针对UUV跟踪复杂路径情形设计自适应前视距离策略,使得UUV可以更好地跟踪复杂水下路径;其次,针对立体空间运动的UUV集群,设计三维视距制导律和协同控制律引导UUV集群在三维空间中沿参数化路径运动;最后,针对模型参数动态变化、风浪流扰动影响下的UUV集群,设计自抗扰控制器实现对动态变化模型、总扰动信息和速度信息的统一估计,保证动力学控制的稳定性.仿真结果验证了所提出基于自适应视距制导的无人潜航器三维协同路径跟踪控制方法的有效性.This paper investigates a cooperative path following problem of multiple unmanned underwater vehicles(UUVs)with complex tracking paths,three-dimensional spatial motion,dynamic changes of model parameters,and wind,wave and current perturbations.Firstly,considering the complexity of tracking paths,an adaptive look forward distance strategy is designed to enable UUVs to better track complex paths.Secondly,for the multiple UUVs moving in three-dimensional space,a line of sight guidance law and a cooperative control law are designed to guide the UUVs to move along the parameterised paths in three-dimensional space.Thirdly,for the UUVs under the influence of dynamic changes in model parameters and disturbances such as wind,waves,and currents,an anti-disturbance controller is designed to achieve a unified estimation of dynamic model variations,total disturbance information,and velocity information,ensuring the stability of dynamic control.Simulation results verify the effectiveness of the proposed three-dimensional cooperative path following control method for the UUVs based on the adaptive line of sight guidance.

关 键 词：自适应前视距离 三维视距制导 协同路径跟踪 自抗扰控制 无人潜航器 

分 类 号：U676.1[交通运输工程—船舶及航道工程]