摘要
多自主水下航行器的协作已经成为当前的研究热点,编队控制是协作问题中的典型问题,也是其他协作问题的基础。该文建立了自主水下航行器主从式编队控制的数学模型,利用反馈线性化理论将模型简化为1阶动态系统,设计了编队控制律,从理论上证明了所设计控制律的稳定性以及内动态系统的稳定性。在此基础上,比较了2种不同拓扑方式下主从式编队控制下的编队误差。仿真结果表明了该编队控制算法的有效性,并且并联式主从编队下编队控制的误差要小于串联式主从编队。
Cooperation of multiple autonomous underwater vehicles （AUVs） has become a hotspot of current AUVs, in which formarion control is the typical problem, and a basis of other cooperative control problems. A mathematic model of the formation control for AUVs was established, the feedback linearization was then used to simplify the model to a one order dynamic system, and the control law was derived. Stabilization of the control law and the inner dynamic system were proved. Furthermore, the formation errors of two leader-follower formation controls under different topologies were compared. Simulation results show validation of the algorithm, and the formation error in parallel connection mode is smaller than that in serial connection mode.
出处
《鱼雷技术》
2007年第4期42-44,共3页
Torpedo Technology
关键词
多自主水下航行器
主从式
编队控制
反馈线性化
multiple autonomous underwater vehicle
leader-follower
formation control
feedback linearization
