基于Jacobi几何向量的多AUV编队控制方法

张 静; 杨惠珍; 郝莉莉; 康凤举

doi:10.11993/j.issn.1673-1948.2012.02.007

基于Jacobi几何向量的多AUV编队控制方法

doi: 10.11993/j.issn.1673-1948.2012.02.007

张静^1,2,
杨惠珍^1,2,
郝莉莉^1,2,
康凤举^1,2

1.
西北工业大学航海学院, 陕西西安, 710072
2.
水下信息与控制重点实验室, 陕西西安, 710072

基金项目: 水下信号与控制重点实验室基金资助(9140C2305041001)

详细信息

作者简介:
张静(1983-), 女, 在读硕士, 研究方向为水下航行器协同控制.

中图分类号: TJ630.33; U674.76
计量
- 文章访问数: 1348
- HTML全文浏览量: 1
- PDF下载量: 709
- 被引次数: 0
出版历程
- 收稿日期: 2011-07-03
- 修回日期: 2011-10-31
- 刊出日期: 2012-04-20

A Formation Control Algorithm for Multiple Autonomous Underwater Ve-hicles Based on Jacobi Shape Theory

1.
College of Marine Engineering, Northwestern Polythechnical University, Xi′an 710072, China
2.
Science and Technology on Underwater Information and Control Laboratory, Xi′an 710072, China

摘要

摘要: 研究了多自主水下航行器(MAUV)系统的水平面动力学建模和系统编队控制问题。从单个自主水下航行器的动力学和运动学模型出发, 通过引入Jacobi几何向量建立了MAUV系统的水平面动力学模型; 结合典型水下航行器全方位智能导器(ODIN)的流体动力参数, 将系统模型解耦为3个线性子系统—— 编队队形、编队运动(即编队中心点的运动)及航行器转向子系统, 并采用线性状态反馈法设计了运动控制器和转向控制器。仿真结果表明, 该算法可以控制MAUV系统在保持编队队形的基础上跟踪已知路径。
- 多自主水下航行器(MAUV) /
- 编队控制 /
- Jacobi几何向量 /
- 全方位智能导航器(ODIN) /
- 线性反馈控制
Abstract: Dynamics modeling and formation control of multiple autonomous underwater vehicles (MAUVs) system are ad-dressed. Based on dynamics and kinematics models of a single AUV, a horizontal dynamics model of MAUV system is estab-lished by applying the Jacobi geometric vector. With the hydrodynamic parameters of the typical underwater vehicle’s omni-directional intelligent navigator (ODIN), the formation dynamics model is reasonably simplified and decoupled into three linear subsystems——formation shape, formation movement (i.e. movement of the formation center), and Vehicle orien-tation subsystem. Motion controller and steering controller are designed for the decoupled linear subsystem by using the linear state feedback approach. Simulation results demonstrate that the algorithm can control the formation center of MAUV system to track known path while keeping formation shape.
- multiple autonomous underwater vehicle(MAUV) /
- formation control /
- Jacobi geometric vector /
- omni-directional intelligent navigator(ODIN) /
- linear feedback control

HTML全文

参考文献(17)

[1]	王银涛, 郑美云, 严卫生. 一种新的AUV路径跟踪控制方法[J]. 西北工业大学学报, 2009, 27(4): 517-520. Wang Yin-tao, Zheng Mei-yun, Yan Wei-sheng. A New Meth- od of Path Following Control of AUV (Autonomous Under- water Vehicle)[J]. Journal of Northwestern Polythechnical University, 2009, 27(4): 717-520.
[2]	Lewis M, Tan K H. High Precision Formation Control of Mobile Robots Using Virtual Structures[J]. Autonomous Ro-bots, 1997, 4(4): 387- 403.
[3]	Zhang F, Leonard N E. Cooperative Kalman Filters for Coo- perative Exploration[C]//Proceedings of 2008 American Con- trol Conference.Washington, 2008: 2654-2659.
[4]	李向舜, 方华京. 基于分数阶PDμ控制器的群体编队控制[J]. 华中科技大学学报: 自然科学版, 2009, 37(10): 32-35. Li Xiang-shun, Fang Hua-jing. PDμ-based Controller For- mation Control of Networked Swarm Agents[J]. Journal Hua- zhong University of Science and Technology: Natural Scien- ce Edition, 2009, 37(10): 32-35.
[5]	陈杨杨, 田玉平. 多智能体沿多条给定路径编队运动的有向协同控制[J]. 自动化学报, 2009, 35(12): 1541- 1549. Chen Yang-yang, Tian Yu-ping. Directed Coordinated Con- trol for Multi-agent Formation Motion on a Set of Given Curves[J]. Acta Automatica Sinica, 2009, 35(12): 1541-1549.
[6]	Cui R, Ge S S. Ren B. Synchronized Altitude Tracking Control of Multiple Unmanned Helicopters[C]//Proceedings of 2010 American Control Conference, 2010: 4433- 4438.
[7]	张飞, 陈卫东. 移动机器人编队自修复的切换拓扑控制[J].控制理论与应用, 2010, 27(3): 289-295. Zhang Fei, Chen Wei-dong. Switched Topology Control for Self-healing of Mobile Robot Formation[J]. Control Theory & Applications, 2010, 27(3): 289-295.
[8]	Zhang F. Cooperative Shape Control of Particle Forma- tions[C]//Proceedings of the 46th IEEE Conference on Deci- sion and Control, 2007: 2516-2521.
[9]	Cui R, Ge S S, How B E, et al. Leader-follower Formation Control of Underactuated AUVs with Leader Position Mea- surement[C]//Proceedings of IEEE International Conference on Robotics and Automation, 2009: 979-984.
[10]	Li J H, Jun B H, Lee P M. Formation Control of Multiple Un- deractuated AUVs[C]//Proceedings of IEEE Oceans. Europe, 2007: 1-5.
[11]	Fahimi F. Full Formation Control for Autonomous Helicopter Groups[J]. Robotica, 2008, 26(2): 143-156.
[12]	杨波, 方华京. 具有通信约束的分布式水下航行器群编队控制[J]. 华中科技大学学报: 自然科学版, 2009, 37(2): 57-60. Yang Bo, Fang Hua-jing. Distributed-control of Maneuvers of Underwater of Underwater Vehicle Groups with Communi- cation Constraint[J]. Journal Huazhong University of Science and Technology: Natural Science Edition, 2009, 37(2): 57-60.
[13]	Hou S P, Cheah C C. PD Control Scheme for Formation Con- trol of Multiple Autonomous Underwater Vehicles[C]//Pro- ceedings of IEEE/ASME International Conference on Advan- ced Intelligent Mechatronics. Singapore, 2009: 356-361.
[14]	Zhang F, Goldgeler M, Krishnaprasad P S. Control of Small Formations Using Shape Coordinates[C]//Proceedings of the 2003 IEEE International Conference on Robotics and Auto- mation. Taipei, 2003: 14-19.
[15]	Choi S K, Tahashige G Y, Yuh J. Experimental Study on an Underwater Robotic Vehicle: ODIN[C]//Proceedings of the 1994 Symposium on Autonomous Underwater Vehicle Tech- nology. Cambridge, 1994: 79-84.
[16]	Fossen T I. Guidance and Control of Ocean Vehicles[M]. Chichester: John Wiley and Sons, 1994.
[17]	Antonelli G. Underwater Robits-Motion and Force Control of Vehicle-Manipulator Systems[M]. 2th ed. Berlin: Springer- Verlag, 2006.