CAJ | 학술논문

论文主要研究多UUV编队在海流干扰下进行空间曲线路径跟踪的问题，并将其分为单个UUV的路径跟踪和多 UUV 编队协调控制两个子问题，提出了结合编队协调策略的跟踪方法。在路径跟踪问题中，设计了海流观测器以得到未知的恒定海流速度，并将其视为对UUV运动的外界干扰，基于此进一步构建了UUV运动学路径跟踪器。利用 Lyapunov 理论证明了系统轨迹在观测器和非线性控制律作用下的有界性和收敛性。在多 UUV 编队协调控制中，将控制问题转化为图论的形式，利用图论的相关理论对信息协调同步策略进行分析，基于编队协调策略设计了协调控制器，实现编队稳定，仿真验证了该算法是有效可行的。
논문주요연구다UUV편대재해류간우하진행공간곡선로경근종적문제，병장기분위단개UUV적로경근종화다 UUV 편대협조공제량개자문제，제출료결합편대협조책략적근종방법。재로경근종문제중，설계료해류관측기이득도미지적항정해류속도，병장기시위대UUV운동적외계간우，기우차진일보구건료UUV운동학로경근종기。이용 Lyapunov 이론증명료계통궤적재관측기화비선성공제률작용하적유계성화수렴성。재다 UUV 편대협조공제중，장공제문제전화위도론적형식，이용도론적상관이론대신식협조동보책략진행분석，기우편대협조책략설계료협조공제기，실현편대은정，방진험증료해산법시유효가행적。
The paper proposed an algorithm for path following of multi-UUVs, combined with coordinated control of formation strategies, which could solve the problem of curved path following in the space with the disturbance of current. It is divided into two sub-problems:tracking of single vehicle and coordinated control of formation. Firstly, a current observer is designed for obtaining constant current speed, which is regarded as the outside disturbance of vehicle motion. Secondly, a UUV kinematical path tracker is built based on the current observer. Boundedness and convergence of the vehicle trajectory under the action of both the observer and the nonlinear control law are proved with Lyapunov's theory. Lastly, for the coordinated control of multiple UUV formation, the control problem is converted into the form of graph theory and the information on synchronization strategy is analyzed with the relationships in graph theory. A coordinated controller is designed and stable formation is achieved. The Simulation showed the validity of the algorithm in the application to special tracking process for the formation of multi-UUVs.