欠驱动水下航行器编队协同控制-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Coordinated Control over Formation of Under-actuated Underwater Vehicles

Author(s):: XIAO Rui-wu; SUN Hong-fei; (School of Information Science and Engineering,Xiamen University,Xiamen 361005,China)

摘要:: 针对复杂海况中欠驱动无人水下航行器（UUV）的水平面上编队问题,结合路径跟踪控制和一致性算法构建编队运动控制策略.将编队任务分为两步：1）对于每个UUV个体设计路径跟踪控制器，完成对各自期望路径的跟踪；2）对于多个UUV之间设计一致性协同算法，完成UUV编队的协同运动；编队控制器设计考虑了外界海流干扰及UUV模型参数不确定性等因素.针对海流干扰设计干扰观测器，利用自适应技术对参数不确定性进行在线估计，最后通过仿真验证了所设计编队控制策略的有效性.

Abstract:: With regard to above-water formation issues for under-actuated unmanned underwater vehicles (UUVs) in complex sea conditions,a formation movement control strategy is presented by means of path-tracking control and distributed consensus algorithm.The formation task is decomposed into two steps.Firstly,a path-tracking controller for each single UUV is designed to track their desired paths.Secondly,for multiple UUVs,a distributed consensus algorithm is proposed to implement their coordinated movements.The aggregate influence of parametric uncertainty and current disturbance are taken into account when designing the formation controller.A disturbance observer is designed for the ocean current disturbance,while the adaptive control technique is used to estimate the parameter uncertainty online.Finally,the validity of the formation control strategy is tested through simulation.