多AUV系统的自适应有限时间一致性跟踪控制

Adaptive Finite Time Consensus Tracking Control for Multiple AUV Systems

本文将自适应技术与有限时间技术相结合,研究了分布式自治水下机器人(Autonomous Underwater Vehicle,简称AUV)系统的自适应有限时间一致性跟踪控制问题。首先,应用图论相关知识描述多AUV间的通信拓扑;其次,对每个跟随AUV的运动与受力进行了分析,建立了基于位置姿态与速度姿态的二阶系统模型;然后,设计了非奇异快速终端滑模,并基于此对每个跟随AUV构建了连续分布式控制律,利用自适应律估计阻尼,恢复力和外部干扰的上界;最后,利用SIMULINK仿真来验证跟随AUV的位置与速度跟踪效果,直观地阐明了本文所提算法的有效性。

In this paper,the adaptive finite-time consensus tracking control problem for distributed autonomous underwater vehicles(referred to as AUV)systems is studied by combining adaptive technique with finite time technique.Firstly,the graph theory is used to describe the communication topology of multi-AUVs.Secondly,each AUV follower’s movements and forces are analyzed,and the second-order system model of position and velocity is established.Moreover,a nonsingular fast terminal sliding mode is designed,the distributed control law with boundary layer is constructed for the single AUV system,and the adaptive law is chosen to estimate the upper bounds of damping,restoring force and external disturbance.It is proved that the attitude tracking errors of AUVs follower are rapidly converged to a small neighborhood near the sliding surface,and they finally converge to a small neighborhood near the origin in finite time.At the same time,the finite-time adaptive control technique improves the robustness of the system and the convengence time has been greatly shorten.Finally,the SIMULINK simulation is used to verify the effects of positions and speeds tracking of AUVs follower,which can illustrate the effectiveness of proposed algorithm.