摘要
针对洋流干扰下的多自主水面无人船(ASV)对有限海洋环境进行覆盖监控的最优化问题,提出一种基于环境信息密度的分布式控制方法。该控制方法是在考虑洋流因素的情况下,以二阶EulerLagrange模型为控制模型的最优覆盖策略。首先建立基于欠驱动系统的最优覆盖模型,提出时变洋流干扰下的多ASV最优区域分配算法。在此基础上,针对ASV的欠驱动特性,综合应用运动学控制方法与Backstepping技术设计基于二阶Euler-lagrange方程的最优覆盖控制算法,并利用Lyapunov稳定性理论证明其稳定性。最后对多ASV最优覆盖网络进行仿真验证实验,实验结果表明该控制方法能够使多ASV在洋流干扰下从区域Q的任意初始位置收敛到最优覆盖配置。
A decentralized coverage control law is presented to drive a network of autonomous underwater vehicles ( ASVs) to an optimal coverage configuration in the ocean environment. Firstly, the transformation of Voronoi Parti-tion is proposed with the disturbance by ocean currents considered. The transformation recalculated the Voronoi Par-tition and the optimization localization. A controller is provided by introducing a kinematic algorithm to propagate ASVs throughout the network with arbitrary initial positions. The dynamical control law is then improved from the ki-nematic controller by employing the adaptive back-stepping techniques. Convergence and stability of ASV system are proved with Lyapunov stability theorem. Simulation results are presented to illustrate the effectiveness of these approaches.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2014年第5期769-774,共6页
Journal of Northwestern Polytechnical University
基金
国家自然科学基金(60875071
51209174)
西工大博士论文创新基金(CX201418)资助
关键词
覆盖控制
多ASV
洋流
欠驱动系统
algorithms, autonomous underwater vehicles, backstepping, calculations, computer simulation, control, controllers, convergence of numerical methods, cost functions, dynamics, efficiency, kinemat-ics, Lyapunov functions, mathematical models, ocean currents, optimization, stability
coverage con-trol, multiple AUVs, under-actuated systems