考虑时延约束的UUV密集集群自适应聚集控制方法

梁洪涛; 康凤举

doi:10.11993/j.issn.2096-3920.202112012

考虑时延约束的UUV密集集群自适应聚集控制方法

doi: 10.11993/j.issn.2096-3920.202112012

梁洪涛^1,,
康凤举²

1.
陕西师范大学物理学与信息技术学院, 陕西西安, 710119
2.
西北工业大学航海学院, 陕西西安, 710072

基金项目: 国家自然基金(62203286); 陕西省自然科学基金(2022JM-312); 中央高校基本科研业务费专项项目(GK202103014)

详细信息

作者简介:
梁洪涛(1988-), 男, 博士, 副教授, 主要研究方向为水下无人集群系统建模、控制与仿真

中图分类号: TJ630.1; U674.941
计量
- 文章访问数: 86
- HTML全文浏览量: 15
- PDF下载量: 32
- 被引次数: 0
出版历程
- 收稿日期: 2021-12-14
- 修回日期: 2022-02-14
- 录用日期: 2022-12-07

Adaptive Flocking Control for Crowded UUV Swarm with Time-Delay Constraint

LIANG Hongtao^1
,,
KANG Fengju²

1.
School of Physics and Information Technology, Shaanxi Normal University, Xi’an 710119, China
2.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, 710072, China

摘要

摘要: 针对时延条件下无人水下航行器(UUV)集群聚集控制问题, 受不同尺度生物仿生机理启发, 提出一种密集集群自适应聚集控制方法。首先, 设计考虑近邻数量和空间分布的仿生邻居筛选机制, 以此建立单近邻跟随与多近邻跟随耦合的自适应集群结队交互模型, 确保交互邻居在数量和空间上最优。其次, 结合结对交互模型与一致性协议、势场函数模型和扰动观测器, 设计时延约束的UUV密集集群自适应聚集控制方法, 避免集群发生碰撞和分裂。最后, 通过Lyapunov定理证明时延条件下UUV密集集群状态一致性以及避碰和连通性保持。仿真结果验证了所设计控制方法的有效性和优越性。
- 无人水下航行器 /
- 聚集控制 /
- 时延约束 /
- 避碰 /
- 连通性保持
Abstract: To address the flocking control problem of a crowded unmanned undersea vehicle (UUV) swarm under time-delay constraints, an adaptive flocking control approach was investigated using a multiscale bio-inspired mechanism. First, an adaptive flocking interaction model with a bio-inspired optimal neighbor selection strategy was established to robustly switch between single neighbor following and multiple neighbors following, which ensures the minimum quantity and optimal distribution. Second, considering time-delay constraints, a flocking controller was developed by incorporating a consensus protocol, potential field function model, and disturbance observer into the proposed interaction model, thereby guaranteeing collision avoidance and connectivity maintenance. Finally, by virtue of the Lyapunov theorem, state consensus under the time-delay condition is proved. Simulation results verify the effectiveness and superiority of the proposed control method.
- unmanned undersea vehicle /
- flocking control /
- time-delay constraint /
- collision avoidance /
- connectivity maintenance

HTML全文

图 1 有限视野的邻居选择模型

Figure 1. Neighbor selection model with limited view field

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图 2 自适应近邻结对交互模型

Figure 2. Adaptive neighbor pair interaction model

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图 3 UUV集群初始状态(t=0 s)

Figure 3. Initial state of UUV swarm (t=0 s)

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图 4 UUV集群运动轨迹

Figure 4. Trajectory of UUV swarm

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图 5 UUV集群最终状态(t=60 s)

Figure 5. Final state of UUV swarm (t=60 s)

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图 6 UUV集群个体间距

Figure 6. Individual distances of UUV swarm

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图 7 UUV集群速度曲线

Figure 7. Velocity curves of UUV swarm

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图 8 UUV集群平均位置误差

Figure 8. Mean position errors of UUV swarm

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表 1 平均航向与尺度参数

Table 1. Mean heading and scale parameter

时间/s	固定距离		固定数量		文中方法
时间/s	$ {\vartheta _1}(t) $	$ {\vartheta _2}(t) $	$ {\vartheta _1}(t) $	$ {\vartheta _2}(t) $	$ {\vartheta _1}(t) $	$ {\vartheta _2}(t) $
t=0	48.5	0.85	50.5	0.88	40.2	0.82
t=10	42.5	0.73	48.5	0.80	35.5	0.56
t=20	39.7	0.67	44.7	0.75	39.8	0.33
t=30	40.2	0.58	43.2	0.62	36.8	0.32
t=40	39.4	0.52	42.4	0.53	36.8	0.32
t=50	38.8	0.51	38.8	0.45	36.8	0.32
t=60	36.9	0.51	37.1	0.45	36.8	0.32

下载: 导出CSV

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