编队约束下的AUV路径跟踪

Formation Constraint Tracking Control of AUV

研究了自主水下航行器(AUV)编队约束下的路径跟踪问题。将整个系统的误差分为2部分:①各AUV自身的跟踪误差;②AUV的编队误差;在此基础上,针对AUV的参数不确定性以及海流干扰等特点,提出了一种自适应变结构控制律,在滑动面的选取中,同时考虑了AUV的路径跟踪误差以及AUV之间的编队误差。文章从理论上证明了控制律的稳定性,并讨论了控制律实现中路径参数更新律的选取问题。仿真结果表明,所设计的控制律可以使AUV克服海流干扰,达到编队航行的目的,并且考虑编队约束时AUV相互之间的的距离误差比不考虑编队约束时的误差小。

The formation constraint tracking control of Autonomous Underwater Vehicle （AUV） was studied in this paper. The system total error was divided into two parts; one is the tracking error of each AUV and the other is the formation error. On the basis of this division of the system total error, an adaptive sliding mode variable structure control law, which is eq. （17） in the full paper, was proposed to take into due consideration the parameter uncertainties and the ocean current distribution of each AUV. The convergence of the proposed control law was proved in Theorem 1 in the full paper, whose proof involved eqs. （19） through （22）, and the appropriate path variable updating law, which was eq. （24） in the full paper, was selected to avoid using high gain control for large error signal in the proposed algorithm. Simulation results, given in Figs. 2 through 6 in the full paper, show preliminarily that AUVs can cruise in formation regardless of the ocean current distribution, that the model parameters can converge in finite time, and that the formation error with formation constraint was smaller than that without formation constraint.