通信随机时滞条件下基于分布式模型预测的AUV编队控制

AUV formation control with communication stochastic delay based on distributed model prediction

考虑水声通信随机时滞条件下AUV编队协同控制问题,提出一种基于分布式模型预测的AUV编队控制方法.首先,通过所设计的随机时滞通信同步策略,将异步状态信息转换为同步状态信息;然后,结合虚拟轨迹、状态预测、控制约束以及编队内AUV状态信息描述协同编队代价函数,将其引入局部滚动时域优化,实现编队控制目标,并利用李雅普诺夫理论验证编队控制器的稳定性;最后,将所提出方法与现有编队控制方法进行对比仿真,仿真结果验证了其有效性.

Considering the problem of AUV formation cooperative control in underwater acoustic communication with random time delay,this paper proposes a distributed model prediction based AUV formation control method.Firstly,the asynchronous state information is transformed into synchronous state information by the designed random time-delay communication synchronization strategy,and then the cooperative formation cost function is described by combining virtual trajectory,state prediction,control constraints and AUV state information.The formation control function is introduced into local rolling time domain optimization to achieve formation control objectives.The Lyapunov theory is used to prove the stability of formation controller.Finally,the proposed method is compared with the existing formation control methods,and the results verify its effectiveness.