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针对自主水下航行器(AUV)的编队控制问题,分析了几种不同编队控制方法的优缺点,提出了一种融合了主从编队控制和虚拟结构编队控制二者优点的基于虚拟参考点的AUV编队控制新方法。该方法将AUV的水平面运动方程进行反馈线性化,得到一个二重积分系统,并将编队控制任务分为两个子任务,一是各个AUV的路径跟踪问题;二是要求所有的AUV要以期望的速度编队航行,在此基础上设计了AUV的编队控制律,并在设计虚拟参考点的位置更新时,综合考虑了编队中所有AUV的位置跟踪误差,实现了编队控制的高层协调。通过仿真试验,验证了所提出编队控制律的有效性。
Aiming at the problem of formation control of autonomous underwater vehicle (AUV), the advantages and disadvantages of several formation control methods are analyzed. A virtual reference point based method that combines the advantages of both master-slave formation control and virtual formation formation control is proposed. AUV Formation Control New Method. The method linearizes the AUV horizontal plane motion equation to obtain a double integral system, and divides the formation control task into two sub-tasks. The first is the path tracking problem of each AUV. The second is to require all AUVs to be expected Speed formation fleet navigation. On this basis, the AUV formation control law is designed. When the location of the virtual reference point is updated, the position tracking errors of all the AUVs in formation are comprehensively considered, and the high-level coordination of formation control is achieved. Simulation results show the effectiveness of the proposed control law.