CAJ | 학술논문

研究了基于路径参数一致性的多自主水下航行器（AUV）协同路径跟踪控制问题。采用Lyapunov理论设计单体AUV的路径跟踪控制器，通过前向速度和航向角控制，实现AUV路径跟踪误差的全局渐近。以描述曲线的路径参数变化率为附加控制变量，采用信息一致性理论，设计路径参数协同控制器，保证各AUV在沿期望路径运动的同时，路径参数达到同步，参数变化率趋于期望值，从而实现多AUV在空间和时间的协同。以路径参数作为AUV之间的交互信息，通讯需求量小，满足实际工程需求。数学仿真结果验证了控制算法的有效性。
연구료기우로경삼수일치성적다자주수하항행기（AUV）협동로경근종공제문제。채용Lyapunov이론설계단체AUV적로경근종공제기，통과전향속도화항향각공제，실현AUV로경근종오차적전국점근。이묘술곡선적로경삼수변화솔위부가공제변량，채용신식일치성이론，설계로경삼수협동공제기，보증각AUV재연기망로경운동적동시，로경삼수체도동보，삼수변화솔추우기망치，종이실현다AUV재공간화시간적협동。이로경삼수작위AUV지간적교호신식，통신수구량소，만족실제공정수구。수학방진결과험증료공제산법적유효성。
The coordinated path following control of multiple AUVs using information consensus of path parameters is investigated. The path following control law is designed based on Lyapunov method for each AUV to follow its corresponding desired path through the surge velocity and yaw angle control. Using the rate of the path parameters as the extra control variable,the information consensus theory is used to design the coordinated control law to make the path parameters achieve consensus,and the rates of path parameters track the given profile. The spatial and temporal coordination of multiple AUVs is achieved. The proposed control strategy needs only the communication of the path parameters among the AUVs,which satisfies the practical requirement. Simulation results illustrate the effectiveness of the proposed method.