CAJ | 학술논문

针对动目标围捕过程对Multi-UUV编队结构的灵活性要求较高的问题，基于欠驱动UUV的数学模型，在目标轨迹能够准确预测的前提下，改进了协调编队运动控制器。协调编队运动控制器的控制目标是在Multi-UUV编队跟踪并围捕动目标过程中，避免Multi-UUV之间，UUV与障碍物以及UUV与动目标之间的碰撞并以稳定的编队结构围捕动目标。将控制器设计过程分解为运动学控制和动力学控制。在运动学控制部分，实现动目标跟踪、UUV之间避撞及UUV偏航角误差为零的控制目标。在动力学控制部分，应用反步法设计实际的控制输入。仿真案例验证了协调运动控制器在动目标围捕中的有效性。
침대동목표위포과정대Multi-UUV편대결구적령활성요구교고적문제，기우흠구동UUV적수학모형，재목표궤적능구준학예측적전제하，개진료협조편대운동공제기。협조편대운동공제기적공제목표시재Multi-UUV편대근종병위포동목표과정중，피면Multi-UUV지간，UUV여장애물이급UUV여동목표지간적팽당병이은정적편대결구위포동목표。장공제기설계과정분해위운동학공제화동역학공제。재운동학공제부분，실현동목표근종、UUV지간피당급UUV편항각오차위령적공제목표。재동역학공제부분，응용반보법설계실제적공제수입。방진안례험증료협조운동공제기재동목표위포중적유효성。
On the premise that the moving-target trajectory can be forecasted, a coordinated formation motion controller is improved based on the mathematical model of the underactuated Unmanned Underwater Vehicle(UUV)to solve high flexibility of Multi-UUV formation structure for moving-target hunting. The aim of the controller is to avoid the collision between UUVs, UUV and obstacle, UUV and moving-target, and keep hunting the moving-target with the stable forma-tion. The controller design process is decomposed into kinematics and dynamics control. In kinematics control part, the control targets of moving-target tracking, collision avoidance between UUVs and yaw angle error to zero are satisfied. In dynamics control part, backstepping is applied to design the actual control input. The simulation shows the validity of the coordinated formation motion controller.