CAJ | 학술논문

针对欠驱动AUV的编队问题，提出了基于柱坐标系的AUV运动学模型，以建立多AUV的期望编队区域和编队的人工势场函数。根据AUV的动力学模型建立多AUV自适应编队控制策略，并使用李雅普诺夫函数加以证明。在多AUV编队的仿真中，建立了3个欠驱动AUV编队的仿真平台，分析了欠驱动AUV在编队过程的特点，通过结合使用人工势场能函数，使领航员AUV在完成空间折线和螺旋线路径跟随同时，实现了跟随中多AUV的编队和队形保持，并使AUV之间的相对距离误差逐渐趋于零并保持稳定，从而证明了自适应编队控制策略，对欠驱动AUV编队的研究具有重要意义。
침대흠구동AUV적편대문제，제출료기우주좌표계적AUV운동학모형，이건립다AUV적기망편대구역화편대적인공세장함수。근거AUV적동역학모형건립다AUV자괄응편대공제책략，병사용리아보낙부함수가이증명。재다AUV편대적방진중，건립료3개흠구동AUV편대적방진평태，분석료흠구동AUV재편대과정적특점，통과결합사용인공세장능함수，사령항원AUV재완성공간절선화라선선로경근수동시，실현료근수중다AUV적편대화대형보지，병사AUV지간적상대거리오차축점추우령병보지은정，종이증명료자괄응편대공제책략，대흠구동AUV편대적연구구유중요의의。
In order to realize formation control over under?actuatedautonomous underwater vehicles(AUVs), a cy?lindrical coordinate?system?based AUV kinematic model is proposed in this study. The model is used to set up the desirable formation region and the artificial potential functions for multi?AUV formation. Adaptive control strategy for multi?AUV formation is developed based on the dynamic AUV model. The strategy is verified through the Lyapunov function. In the simulation, three under?actuated AUV formation platforms are established and the characteristics of the under?actuated AUV are analyzed. With the artificial potential functions integrated in the system, the leader AUV has successfully tracked the 3D fold?line and screw?line path, and the followers maintain formation organiza?tion simultaneously. The relative distance error among AUVs approaches zero and maintains stability. Therefore, the adaptive formation control strategy for under?actuated AUVs is further verified through simulation, which is of great significance for research in the field of under?actuated AUV formation.