基于领航者的多UUV协调编队滑模控制

Multi-UUV coordinated formation sliding mode control based on leader

针对多无人水下航行器(unmanned underwater vehicle,UUV)编队控制易受外界环境扰动的问题,本文提出一种基于领航者的鲁棒滑模编队控制方法。该方法采用滤波反步法设计控制器,使领航者跟踪期望路径。为了使跟随者能够更好地跟踪上领航者,利用领航者的位置与速度信息进行编队控制器设计,增加系统的鲁棒性的同时,分别对跟随者的纵向速度误差和横向速度误差进行了积分滑模面的设计。仿真结果表明:针对外界环境扰动及参数的不确定性,本文所提出的鲁棒性的滑模编队控制器是切实有效的。

In this study,to address the vulnerability of the multi-UUV formation control to disturbances from the external environment,a pilot-based robust sliding mode formation control method is proposed. In the proposed method,the controller was designed by the filter backstepping method to enable the pilot to track the desired path. The pilot's location and velocity information were used in the design of the fleet controller. The follow-ups of the longitudinal velocity and lateral velocity errors were integrated into the sliding mode surface design to enable the followers to properly track the pilot and robustness,respectively. Finally,the simulation results revealed that the proposed robust and effective sliding mode formation controller was effective and feasible for control under disturbances from the external environment and parameter uncertainty.