弱通信条件下基于MPC与融合状态估计的多UUV编队控制方法

Methods of Multi-UUVs Formation Control Based on MPC or State Estimator under Communication Uncertainty

多无人水下航行器(UUV)编队控制在实际复杂海洋环境中面临着水声通信时延大、多中断和丢包等弱通信难题,如何提高其对通信的鲁棒性是重点研究方向之一。首先,建立了多UUV编队模型;其次,将多UUV编队航行分为有无参考路径两种状态,针对已知编队期望路径条件,将编队问题分解为路径跟踪与速度同步问题,设计了基于模型预测控制的路径跟踪控制和速度误差同步机制;再次,针对编队处于机动过程而缺乏参考路径的条件,提出了基于最小二乘的融合状态估计及其一致性编队控制方法;最后,在仿真环境最大队形误差0.6 m,验证了算法的有效性。与单积分器系统一致性编队控制算法对比分析表明,所提方法在队形控制精度、队形恢复时间以及编队的稳定性方面均具有一定优势,研究结果对多UUV编队应用具有重要的指导意义。

The formation control of multiple Unmanned Underwater vehicles(UUV)is faced with weak communication problems such as long communication time delay,multiple interruptions and packet loss in the ocean,how to improve its robustness to communication is one of the key research directions.Firstly,the model of multi-UUVs system is established in the paper.Secondly,multi-UUVs formation is divided into two states with or without reference path.With the known reference path,the formation problem is decomposed into path tracking and velocity synchronization problem.Based on model predictive control,the path tracking control and speed error synchronization mechanism are designed.When the reference path is unknown,a new method for formation control based on least squares fusion state estimation is proposed.Finally,the maximum formation error is 0.6 m in the simulation,which verifies the effectiveness of the proposed algorithm.Compared with the single integrator system based on consistency formation control algorithm,the results show that the proposed method has some advantages in formation accuracy,formation recovery time and formation stability,and the research results have important guiding significance for multi-UUVs formation application.