基于反步控制的多AUV编队控制方法研究

Research on Multiple AUV Formation Control Algorithm Based on BackStepping Control

针对自主水下机器人(AUV)集群编队任务的实际需求,本文提出了一种基于反步控制思想的多AUV编队控制算法.根据多AUV集群系统的平面Leader-Follower编队模型,推导了多AUV编队控制的数学模型和优化目标.对于积分串联型的AUV非线性系统,借鉴反步控制思想设计了一种新型的控制律函数,采用李雅普诺夫理论证明了AUV集群系统编队控制的稳定性.仿真结果表明,采用本文提出的编队控制方法,AUV集群能够较好实现队形保持与队形切换功能,算法收敛,满足实际编队控制的需求.

Aiming at the actual requirements of AUV swarm formation,this paper proposes one novel control law for AUV formation control based on Backstepping control method.According to the leader-follower structure based plane model of multiple AUVs system,the mathematical model and optimization objective of multiple AUV formation control are derived.For the integral series connection based nonlinear AUV system,a novel control law function is designed based on Backstepping control theory.The stability feature of AUV swarm system is proved by Lyapunov theory.Simulation results show that the AUV swarm can complete formation keeping and formation switching motion perfectly by the proposed formation control method.Moreover,the proposed control law has good convergence and therefore it meets the requirements of actual formation control requirements.