摘要
采用一致性算法与虚拟结构法研究了多自主水下航行器(AUV)小尺度编队控制问题.首先针对各自主水下航行器拥有不同虚拟领航者信息(参考信息)的情况,通过对各AUV拥有的不一致参考信息进行一致性协商而达到状态一致.其次,基于虚拟结构思想采用坐标变换将各AUV相对于虚拟领航者的相对位置转换为各自的期望位置,并设计了一种有限时间跟踪控制律以确保各AUV能在有限时间内跟踪上其期望轨迹,从而实现了多AUV的小尺度有限时间编队控制.最后仿真实验验证了控制策略的有效性.
The small-scale formation control of autonomous underwater vehicles （AUVs） was investigated with consensus algorithms and virtual structure. Firstly, considering the ineonsistant virtual-leader information （reference information） for each AUV, a consensus algorithm was adopted to negothiate the inconsistant reference information for each AUV, helping them reach a consistant state. Secondly, the relative positions to the virtual leader were transformed into their desired positions with coordinate transformation based on virtual structure, and a control law was proposed to make the AUVs track the desired trajectories in finite time. The small-scale formation control for AUVs in finite-time was carried out. Finally, Experimental results were provided to demonstrate the effectiveness of the proposed methods.
出处
《智能系统学报》
2011年第3期248-253,共6页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(61074092)
关键词
自主水下航行器
编队控制
一致性算法
虚拟领航者
autonomous underwater vehicle
formation control
consensus algorithms
virtual leader
