【摘要】 针对自主水下航行器(AUV)的编队控制问题,分析了几种不同编队控制方法的优缺点,提出了一种融合了主从编队控制和虚拟结构编队控制二者优点的基于虚拟参考点的AUV编队控制新方法。该方法将AUV的水平面运动方程进行反馈线性化,得到一个二重积分系统,并将编队控制任务分为两个子任务,一是各个AUV的路径跟踪问题;二是要求所有的AUV要以期望的速度编队航行,在此基础上设计了AUV的编队控制律,并在设计虚拟参考点的位置更新时,综合考虑了编队中所有AUV的位置跟踪误差,实现了编队控制的高层协调。通过仿真试验,验证了所提出编队控制律的有效性。更多还原

【Abstract】 For the formation control of Autonomous Underwater Vehicles(AUV),the advantage and shortcoming of several different formation control method is analyzed,and a new formation control method that possesses both the advantage of Leader-Follower formation control and Virtual Structure formation control based on virtual reference point(VRP) is proposed for AUV in this paper.Using Feedback linearization control method,double integral system of AUV horizontal plane model is derived for formation control law design and the formation task is divided into two subtasks,one is path following of single AUV in formation,and the other is all AUVs need to cruise in formation with the desired speed.Based on above-mentioned method,formation control law was designed and tracking error of all AUV in formation was considered in the reference point position update law design,and then the high level cooperation of AUV was achieved.The efficiency of the proposed control law was validated by simulation experiment.更多还原