具有通信约束的分布式水下航行器群编队控制

Distributed-control of maneuvers of underwater vehicle′ groups with communication constraints

提出了具有通信约束的分布式水下航行器群编队控制算法.证明了在水下航行器群构成的动态网络拓扑为连接图的情况下,当航行器间的通信时延小于某个确定的上界时,该编队控制算法将以分布的方式使得群内所有航行器的速度和编队队形分别全局渐近地收敛至期望速度和期望队形.该算法的分布式本质使得水下航行器间的通信负担明显减轻,数值仿真结果验证了控制算法的有效性.

Distributed algorithms for formation control of group of underwater vehicles with communication constraints is proposed. It is proved that if the communication time-delay between the underwater vehicles is smaller than a certain upper hound, then all underwater vehicle velocity vectors and the group formation converge to the same desired velocity vector and the desired formation globally asymptotically, respectively, if the topology of network is connected. The formation control laws are distributed in the sense that each vehicle only needs information from its neighboring vehicles, which significantly reduces the communication requirement for each underwater vehicle during the maneuver. Numerical simulation results are provided to demonstrate the effectiveness and the sharpness of the theoretical results for formation control of group of underwater vehicles with communication time-delays.