受通信延迟影响的多UUV队形控制

Formation control of multiple UUV's with communication delay

研究带统一通信延迟的多UUV队形控制。根据奈奎斯特准则和代数图论,提出一种与通信拓扑和通信时延有关的队形控制算法。该算法具有分布式特点,对具有双向通信拓扑和统一通信延迟的多UUV系统,能够使所有UUV的速度和位置渐近地收敛至期望值,从而达到稳定的期望队形。数值仿真结果证实所提队形控制方法的有效性。

Formation control of multiple UUV＇ s with communication delay is studied. A formation control algorithm is put forward which is dependent on the communication topology and the communication delay with the basement on the algebraic graph theory and Nyquist criterion. The algorithm with the characteristics of distribution,is applicable to multi-UUV systems under bidirectional communication topology and uniform communication delay. Both the velocities and positions of all vehicles can be ensured to converge to designed values,so as to achieve stable expectation formation. The numerical simulation results show the effectiveness of the proposed formation control method.