切换拓扑下多自主水下航行器编队一致性控制

Formation consensus control of multi-AUV system with switching topology

针对含有通信时延的多自主水下航行器系统的控制问题,本文提出了包含相对位置信息以及速度阻尼器的一致性控制算法。通过反馈线性化方法将多自主水下航行器运动学模型和动力学模型转化为二阶积分器形式。对含通信时延的系统构造Lyapunov-Krasovskii泛函,利用积分不等式和线性矩阵不等式理论,得到多自主水下航行器系统实现一致的充分条件。研究表明:仿真实验证明了所提控制算法的有效性,并验证了在随机切换拓扑和编队队形变换时此控制协议下的多AUV系统具有良好的鲁棒性和稳定性。通过设置位置层和速度层通信拓扑,减少速度和位置的耦合,并提高收敛速度,多自主水下航行器系统可以收敛到期望位置。

The coordinated control of multiple autonomous underwater vehicles(AUVs)is essential for ensuring underwater vehicle consensus in a motion state.Given the multiple autonomous underwater vehicle systems with communication delays,a consensus control protocol with relative position and velocity dampers is proposed,which uses the feedback linearization method to convert the kinematics and dynamic models of AUVs to the form of a second-order integrator.The Lyapunov-Krasovskii function is constructed for the system with time delay,using integral inequality and linear matrix inequality theory to obtain sufficient conditions for the coordinated control of multiple AUV systems.Simulation experiments demonstrate the effectiveness of the proposed control protocol and validate the robustness and stability of the control protocol when topologies switch randomly and formation changes.Furthermore,it is proven that multiple AUVs can converge to the desired position by setting the communication topology of the position layer and velocity layer to reduce the coupling of speed and position and improve the convergence speed.