摘要
为了研究了全驱动式自主水下航行器有限时间编队控制问题。针对多AUV编队控制过程中的可变通信拓扑情形,首先通过预定义AUV间的通信距离,将多AUV系统建模为通信拓扑可变系统。其次对AUV三维运动学和动力学进行建模;为实现多AUV编队控制的有限时间控制,提出一种有限时间的二阶一致性控制算法,对AUV的速度(线速度和角速度)和位置(平移和角度)进行一致性协同控制,利用一致性协同后的速度量和位置量以及各AUV的动力学方程,求解各AUV的推力和推力矩。最后通过对可变通信拓扑情形下的多AUV编队控制进行了数值仿真,验证了所提有限时间编队控制策略的有效性。
In order to study the finite-time control of the full-actuated AUV formation,formation control of the fullactuated autonomous underwater vehicles（ AUVs） was investigated. The multi-AUV formation system was modeled as a system with variable communication topologies by predefining the communication ranges among AUVs. Next,the kinematics and dynamics equations were modeled. A finite-time consensus algorithm for second-order system was proposed and the consensus on velocities of AUV（ linear velocity and angular velocity） and positions（ displacement and angles） were carried out. The velocities and positions based on consensus control were substituted into the dynamics equations of every AUV,so the thrust and thrust torque were obtained in three-dimension space.This paper demonstrated the effectiveness of the proposed formation control for multiple AUVs with constraints on variable communication.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2014年第10期1276-1281,共6页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(61074092)
山东省自然科学基金资助项目(ZR2012FL18)
山东省海洋生态环境与防灾减灾重点实验室开放基金资助项目(201308)
海洋公益性项目资助项目(201005025-1)
青岛市科技发展计划资助项目(13-1-4-172-jch)
山东省科学院科技发展计划资助项目(201244)
国际科技合作项目资助项目(2011DFR60810)
关键词
全驱动式自主水下航行器
编队控制
有限时间一致性
可变通信拓扑
full-actuated autonomous underwater vehicle
formation control
finite-time consensus
variable communication topology
