常值海流作用下多自主水下航行器编队控制

Formation Control of Multiple Autonomous Underwater Vehicles in Presence of Constant Ocean Currents

研究了常值海流作用下自主水下航行器(Autonomous Underwater Vehicle,AUV)的编队控制问题。控制器设计分为两部分:一部分综合应用Lyapunov方法和Backstepping技术设计了单体AUV路径跟踪动力学控制律,保证了路径跟踪误差在常值海流作用下的全局渐进稳定;另一部分为路径参数一致性协同跟踪控制器,保证在仅有一个或一部分AUV获取虚拟领航AUV路径参数更新速度情形下能对其进行协同跟踪。从理论上证明了整个闭环系统的稳定性。仿真结果表明了所提出方法的有效性。

This paper addresses the problem of steering a group of autonomous underwater vehicles along specified paths while keeping a desired spatial formation in the presence of ocean currents.This paper defines how lyapunov and backstepping based path following control for a single vehicle and coordinated consensus tracking for multiple vehicles are brought together to yield a distributed control strategy,by which the problems existing in current designs that a common reference velocity signal being available to all cooperating vehicles are explicitly extended.The path following for each vehicle amounts to reducing an appropriately defines geometric error to zero asymptotically.The desired coordinated behavior is achieved by means of consensus on the velocity of path parameter of a virtual dynamic leader.The stability of the overall closed-loop system is analyzed mathematically.To demonstrate the effectiveness of the controller proposed,simulations results are presented and discussed.