自适应量测-通信联合框架下基于RMPC的AUV编队控制  

Distributed AUV formation control based on RMPC in adaptive measurecommunication union framework

作　　者：王朝阳[1,2] 刁维卿 徐博 于双宁[2] WANG Zhao-yang;DIAO Wei-qing;XU Bo;YU Shuang-ning(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150006,China;Laboratory of Science and Technology on Marine Navigation and Control,China State Shipbuilding Corporation,Tianjin 300131,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150006 [2]中国船舶航海保障技术实验室,天津300131

出　　处：《控制与决策》2025年第1期271-278,共8页Control and Decision

基　　金：中国船舶航海保障技术实验室开放基金项目(20230105);海南省重点研发项目(ZDYF2024GXJS009);国防基础科研计划项目(JCKY2019604D003);近地面探测技术重点实验室基金项目(6142414211405)。

摘　　要：针对复杂海洋环境下自主无人航行器(autonomous underwater vehicle,AUV)编队协同控制问题,提出一种自适应量测-通信联合框架下基于鲁棒模型预测的编队控制策略.所提出方法能够避免基于水声广播的显式通信交互方式在水下复杂条件下的延迟和丢包等不利因素.首先,提出一种自适应量测-通信联合框架,利用非显式通信实现编队内部状态的观测,并引入自适应卡尔曼滤波对量测-通信链路中存在的外部扰动进行补偿;然后,在该框架下,设计辅助控制律并将其引入分布式鲁棒模型预测控制器,实现多条件约束下的AUV编队跟踪控制,并通过Hamilton函数和终端约束等理论验证编队控制器的稳定性;最后,通过对5艘AUV组成的编队在不同情景下的仿真结果进行对比分析,验证所提出方法的有效性.To solve the problem of autonomous underwater vehicle(AUV)formation cooperative control in complex Marine environment,a robust model predictive control strategy based on an adaptive measure-communication framework is proposed,which can avoid the delay and packet loss of the explicit communication interaction mode based on underwater acoustic broadcast under complex underwater conditions.Firstly,an adaptive measures-communication framework is proposed,which uses non-explicit communication to observe the internal state of the formation and introduces an adaptive Kalman filter to compensate for external disturbances in the measures-communication link.Then,a distributed robust model predictive controller is designed based on the auxiliary control law to realize the AUV formation tracking control under multi-condition constraints.The stability of the AUV formation controller is proved by the Hamilton function and terminal constraint theory.Finally,the simulation results of 5 AUVs in different scenarios are compared and analyzed to verify the effectiveness of the proposed method.

关 键 词：AUV 编队控制 自适应量测-通信联合框架 虚拟轨迹 鲁棒预测控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]