Leader-Follower Formation Control of Autonomous Underwater Vehicles
-
摘要: 多自主水下航行器的协作已经成为当前的研究热点，编队控制是协作问题中的典型问题，也是其他协作问题的基础。该文建立了自主水下航行器主从式编队控制的数学模型，利用反馈线性化理论将模型简化1 为阶动态系统，设计了编队控制律，从理论上证明了所设计控制律的稳定性以及内动态系统的稳定性。在此基础上，比较2 种了不同拓扑方式下主从式编队控制下的编队误差。仿真结果表明了该编队控制算法的有效性并且并联式主从编队下编队控制的误差要小于串联式主从编队。Abstract: Cooperation of multiple autonomous underwater vehicles (AUVs) has become a hotspot of current AUVs , in which formation control is the typical problem , and a basis of other cooperative control problems. A mathematic model of the formation control for AUVs was established , the feedback linearization was then used to simplify the model to a one order dynamic system , and the control law was derived. Stabilization of the control law and the inner dynamic system were proved. Furthermore , the formation errors of two leader-follower formation controls under different topologies were compared. Simulation results show validation of the algorithm , and the formation error in parallel connection mode is smaller than that in serial connection mode.
-
[1] Kumar R,Stover J A.A Behavior-Based Intelligent Control Architecture with Application to Coordination of Multiple Underwater Vehicles [J],IEEE TRANS. SMC, 2000,30(6):767-784. [2] Feddema J T.Decentralized Control of Cooperative Robotic Vehicles:Theorγand Application [J],IEEE TRANS.Robot.2002,19(5):852-864. [3] 徐德民.鱼雷自动控制系统[M].西安:西北工业大学出版社，2000. [4] Keegan J J.Trajectory Path Planning for the Aries AUV[D].Master Thesis of Naval Post Graduate School.2002.Monterey,California,USA. -
点击查看大图
计量
- 文章访问数: 2102
- HTML全文浏览量: 3
- PDF下载量: 1273
- 被引次数: 0
下载:
