基于行为预测的水下无人机一致性时延处理

Consistency Delay Processing of AUV Based on Behavior Prediction

针对水下无人机编队在目标合围观测任务中出现的通信时间延迟问题,建立了水下无人机编队的二阶离散系统模型.通过对比有无时延对编队的影响,在一致性时延的基础上,设计了时延控制方案,给出了在固定且大于一个采样周期的时延下,相邻无人机期望位置的表达式.仿真结果表明,设计的时延控制方案能够较好的抑制时延产生的不利影响,稳态振荡系数的一阶导数平均降低75.07%,验证了行为预测方法解决时延问题的有效性.

For the problem of communicational time delay of AUV formations in the target encircling observation task,a second-order discrete system model of AUV formations is established.By comparing the effect of delay on the formation,a delay control scheme is designed on the basis of consistent delay,which gives the expected position of the adjacent AUV under a fixed delay greater than one sampling period.Simulation results show that the designed delay control scheme can suppress the adverse effects of delay better.The first derivative of the steadystate oscillation coefficient decreases by an average of 75.07%which verifies the effectiveness of the behavior prediction method for solving the delay problem.