【作者】 陈波；

【导师】 Bijoy Kumar Ghosh；

【作者基本信息】 电子科技大学 ， 控制科学与工程， 2023， 博士

【摘要】 随着科技的发展以及人类对海洋资源的日益关注,针对自主水下航行器(Autonomous Underwater Vehicle,AUV)系统的研究在近年来取得了长足发展,且已经被广泛应用于数据收集、海洋探测以及目标跟踪等各领域的实际应用中。当面对海洋任务的复杂性和多样性时,单个AUV系统越来越难以满足日益增加的任务需求。而多AUV系统可以进行不同的空间位置分布与任务分配,并通过彼此之间的协调与合作来完成任务,具有效率高、鲁棒性强、任务范围广等优点。因此,多AUV系统的协同控制技术已成为近年来相关科研人员的研究热点。另外,如何保证系统能在有限时间内快速收敛到所需的精度也是多AUV系统在工程实践中所面临的一个挑战。本文针对多AUV系统在参数不确定、间歇通信以及部分状态信息不可得等条件下的有限时间会合、跟踪、编队以及绕航等协同控制问题,展开了一系列研究工作,主要包括:1.开展了不确定异构多AUV系统在有速度信息和无速度信息时的有限时间位置跟踪控制算法研究。针对只有部分跟随者能直接获得领航者信息的情况,设计了分布式降阶观测器以估计领航者的状态。针对AUV系统模型参数不确定的情况,设计了自适应算法用以估计模型参数。进一步,当考虑AUV系统速度信息不可得时,提出了一种仅依赖于位置信息的观测器以在有限时间内估计AUV的所有状态信息。而后,针对AUV系统速度信息可得和不可得两种情形分别设计了基于上述估计值的分布式有限时间位置跟踪控制协议。基于Lyapunov理论、滑模控制方法以及有限时间稳定性理论证明了系统的稳定性,并进行了数值仿真实验。2.开展了异构无速度信息多AUV系统在间歇通信下的有限时间交会控制算法以及有限时间轨迹跟踪控制算法研究。针对交会控制问题,首先为每个跟随者AUV设计了分布式观测器以估计自身的状态信息;而后,基于观测器设计了间歇通信下的有限时间交会控制协议。针对轨迹跟踪控制问题,首先为每个跟随者AUV设计了两个间歇通信下的分布式观测器以估计领导者和其自身的状态信息;而后,设计了基于观测器的有限时间轨迹跟踪控制协议。根据Lyapunov理论、间歇通信机制以及有限时间稳定性理论证明了系统的稳定性,并进行了数值仿真实验。3.开展了异构多AUV系统在间歇通信下的有限时间编队和绕航切换控制算法研究。针对只有部分AUV能间歇性的获得目标信息的情形,设计了基于间歇通信的分布式有限时间观测器以估计目标的状态信息;而后,设计了基于观测器的有限时间编队-绕航切换控制协议。根据Lyapunov理论、间歇通信机制以及有限时间稳定性理论证明了算法的有效性,并进行了数值仿真实验。4.开展了异构多AUV系统在部分个体间歇通信下的有限时间多圆编队和绕航切换控制算法研究。针对多AUV系统的多圆轨道问题,引入集群思想将所有AUV进行群划分。而后,为每个集群领导者设计了间歇通信下的分布式观测器以估计目标的信息,并为集群跟随者设计观测器以估计领导者的状态;最后,设计了基于观测器的有限时间多圆编队-绕航切换控制协议。根据Lyapunov理论、间歇通信机制以及有限时间稳定性理论证明了算法的有效性,并进行了数值仿真实验。更多还原

【Abstract】 With the development of science and technology and the increasing focus on ocean resources,the research on Autonomous Underwater Vehicle(AUV)system has made great progress in recent years,and has been widely applied in various fields such as data collec-tion,ocean detection and target tracking.When faced with the complexity and diversity of ocean missions,it is increasingly difficult for a single AUV system to meet the increas-ing mission demands.However,the multiple AUV systems can carry out different spatial location distribution and task allocation,and complete the task through the coordination and cooperation between each other,which has the advantages of high efficiency,strong robustness,wide range of tasks and others.Therefore,the cooperative control technology of multiple AUV system has become the research hotspot of relevant researchers in recent years.In addition,how to ensure that the system can quickly converge to the required accuracy within finite time is also a challenge for multiple AUV systems in engineering practice.In this dissertation,a series of research works are carried out to solve the cooper-ative control problems of multiple AUV systems include finite time rendezvous,tracking,formation and circumnavigation under the conditions of uncertain parameters,intermittent communication and unavailability of partial state information,etc.,including:1.The finite-time position tracking control algorithm of uncertain heterogeneous multiple AUV system with and without velocity information are studied.A distributed reduced-order observer is proposed to estimate the state of the leader when only partial follower AUVs can directly obtain the information of the leader.Aiming at the uncertain model parameters of AUV system,an adaptive algorithm is designed to estimate the model parameters.Furthermore,when considering the unavailability of the velocity information of the AUV system,an observer relying only on the position information is proposed to estimate all the state information of the AUV in a finite time.Then,a distributed finite time position tracking control protocol based on the above estimates is designed for the available and unavailable velocity information of the AUV system.The stability of the system is proved by Lyapunov theory,sliding mode control method and finite time stability theory,and numerical simulation experiments are carried out.2.The finite-time velocity-free rendezvous control algorithm and trajectory tracking control algorithm of heterogeneous multiple AUV system under intermittent communica-tion is studied.For the rendezvous control problem,a distributed observer is proposed for each follower AUV to estimate its own state information.Then,a finite time rendezvous control protocol is designed based on observer.For the trajectory tracking control prob-lem,two distributed observers based on intermittent communication are proposed for each follower AUV to estimate the state information of leader and its own.Then,an observer-based finite-time trajectory tracking control protocol is designed.The stability of the sys-tem is proved by Lyapunov theory,intermittent communication mechanism and finite time stability theory,and numerical simulation experiments are carried out.3.The finite-time formation-circumnavigation switching control algorithm of hetero-geneous multiple AUV system under intermittent communication is studied.A distributed finite time observer based on intermittent communication is designed to estimate the state information of the target when only partial AUVs can obtain the target information in-termittently.Then,an observer-based finite-time formation-circumnavigation switching control protocol is designed.The effectiveness of the algorithm is proved by Lyapunov theory,intermittent communication mechanism and finite time stability theory,and nu-merical simulations are carried out.4.The finite-time multiple circles formation-circumnavigation switching control algorithm of heterogeneous multiple AUV system with an intermittent communication mechanism among partial individuals is studied.Aiming at the multiple circle orbit prob-lem of multiple AUV system,the clustering idea is introduced to divide all AUVs into groups.Then,a distributed observer under intermittent communication is proposed for each cluster leader to estimate the information of the target,and another observer is pro-posed for each cluster follower to estimate the state of leader.Finally,the observer-based finite-time multiple circles formation-circumnavigation switching control protocol is de-signed.The effectiveness of the algorithm is proved by Lyapunov theory,intermittent communication mechanism and finite time stability theory,and numerical simulations are carried out.更多还原