基于神经动力学模型预测的多AUV编队自适应控制方案  

A neural dynamics model prediction-based adaptive control system for AUV formation control

作　　者：张继文 徐博[1] 王储岩 王朝阳[1] ZHANG Jiwen;XU Bo;WANG Chuyan;WANG Zhaoyang(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001

出　　处：《中国舰船研究》2025年第1期326-339,共14页Chinese Journal of Ship Research

基　　金：微系统技术重点实验室开放课题(6142804230106);海南省重点研发项目(ZDYF2024GXJS009)。

摘　　要：[目的]针对复杂海流和障碍干扰会影响多自主水下航行器(AUV)编队控制问题,提出一种神经动力学模型预测解决方案。[方法]首先,针对各种障碍干扰以及动态避障过程中期望收敛速度过快导致的AUV滞回问题,设计一种基于神经动力学模型预测的多AUV编队自适应控制方案(NDP-ABS),引入活性源、抑制源,结合最优控制实现动态避障、编队控制和期望跟踪,以解决势场类算法的局部最优问题。其次,考虑到NDP环节在控制律中引入的未知非线性因子以及海流扰动,基于非线性自适应反步法对AUV期望跟踪控制器进行设计,解决浅层海流扰动以及非线性因子对AUV期望跟踪控制的干扰。最后,利用李雅普诺夫理论证明系统的稳定性。通过6组仿真,以验证NDP-ABS方案的有效性。[结果]结果表明,相较于NDP-BS方案,编队稳定性提高36.8%,避障造成的路径代价减少58.3%。[结论]NDP-ABS编队方案具有避障代价低、抗海流干扰能力强、稳定性高等优点,在多AUV非显式编队控制中具有明显优势。[Objectives]This paper seeks to provide a solution for the formation control issue that arises when autonomous underwater vehicles(AUVs)are subjected to interference from obstacles and complex ocean currents.[Methods]To tackle the issue of AUV hysteresis resulting from an overly rapid predicted convergence speed during dynamic obstacle avoidance,a multi-AUV formation adaptive control method(NDP-ABS)based on brain dynamics model prediction is created.Active and inhibitory sources are created to solve the local optimization problem of potential field methods.When paired with optimal control,dynamic obstacle avoidance,formation control,and predicted tracking are accomplished.Second,a nonlinear adaptive backstepping method is used to design the AUV expected tracking controller,which resolves the interference of shallow ocean current disturbances and nonlinear factors on the AUV expected tracking control in consideration of unknown nonlinear factors and ocean current disturbances introduced in the control law of the NDP process.Finally,Lyapunov theory is used to demonstrate the system's stability.[Results]The anti-interference and obstacle avoidance performance of the NDP-ABS system are tested in six sets of comparative simulation tests,and the results confirm its efficacy.[Conclusions]The NDP-ABS formation scheme offers several benefits,including cheap obstacle avoidance costs,robust resistance to interference from ocean currents,high stability,and clear advantages in the non-explicit formation control of multiple AUVs.

关 键 词：自主水下航行器 运动控制 编队控制 生物启发 模型预测 自适应反步 

分 类 号：U664.82[交通运输工程—船舶及航道工程]