舰船电子工程
艦船電子工程
함선전자공정
SHIP ELECTRONIC ENGINEERING
2015年
1期
154-157
,共4页
自主水下航行器%编队控制%分布式控制%自适应控制
自主水下航行器%編隊控製%分佈式控製%自適應控製
자주수하항행기%편대공제%분포식공제%자괄응공제
autonomous underwater vehicle%formation control%distributed control%adaptvie control
研究了自主水下航行器的编队控制问题，基于编队参考中心思想为每个AUV构造了期望参考轨迹。将每个AUV的系统误差分为自身跟踪误差和与邻居AUV的协同误差两部分，在此基础上，针对AUV模型参数不确定性，提出一种自适应分布式控制律，使得每个AUV沿着自身期望轨迹运动，并与相邻AUV保持同步，从而与编队参考中心保持期望的距离，达到编队控制的目的。文章基于Lyapunov稳定性原理从理论上证明了闭环系统的稳定性，仿真结果表明所提出的算法是有效的。
研究瞭自主水下航行器的編隊控製問題，基于編隊參攷中心思想為每箇AUV構造瞭期望參攷軌跡。將每箇AUV的繫統誤差分為自身跟蹤誤差和與鄰居AUV的協同誤差兩部分，在此基礎上，針對AUV模型參數不確定性，提齣一種自適應分佈式控製律，使得每箇AUV沿著自身期望軌跡運動，併與相鄰AUV保持同步，從而與編隊參攷中心保持期望的距離，達到編隊控製的目的。文章基于Lyapunov穩定性原理從理論上證明瞭閉環繫統的穩定性，倣真結果錶明所提齣的算法是有效的。
연구료자주수하항행기적편대공제문제，기우편대삼고중심사상위매개AUV구조료기망삼고궤적。장매개AUV적계통오차분위자신근종오차화여린거AUV적협동오차량부분，재차기출상，침대AUV모형삼수불학정성，제출일충자괄응분포식공제률，사득매개AUV연착자신기망궤적운동，병여상린AUV보지동보，종이여편대삼고중심보지기망적거리，체도편대공제적목적。문장기우Lyapunov은정성원리종이론상증명료폐배계통적은정성，방진결과표명소제출적산법시유효적。
In this paper ,the formation control problem is studied for autonomous underwater vehicle ,Based on the idea of reference center formation ,the expected reference trajectory for each AUV is constructed .The system error of each AUV is divided into two parts for their collaborative error tracking error and the adjacent AUV .On this basis ,according to the AUV model parameter uncertainty ,an adaptive distributed control disciplinarian is proposed so that each AUV along its track desired trajectory ,and keeps pace with the adjacent AUV ,thus maintaining a desired distance and formation reference center ,to achieve the purpose of formation control .It theoretically proves the stability of the closed‐loop system based on the Lyapunov stability theory .The simulation results show that the proposed algorithm is effecite .
