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研究了通讯时延情况下的欠驱动自主水下航行器(A u tonom ous U nderw ater V eh icle)编队控制问题。考虑到水下通讯所面临困难,将编队问题分为两个部分:一部分为单个AUV的路径跟踪控制问题,保证每个AUV沿各自的期望路径航行;另一部分为路径参数的协同控制问题,保证每个AUV期望的路径参数能够实现同步,进而达到编队控制的目的。提出的控制方案仅需要AUV之间交互路径参数信息,通讯需求量小,满足实际工程需求且能够允许一定的通讯时间延迟。数值仿真结果验证了控制算法的有效性。
The formation control of under-powered autonomous underwater vehicles under communication delay conditions is studied. Considering the difficulties of underwater communication, the formation problem is divided into two parts: one is the path tracking control of a single AUV, which ensures that each AUV sails along the desired path; the other is the coordinated control of path parameters, which guarantees The expected path parameters for each AUV can be synchronized to achieve formation control. The proposed control scheme only needs the information of interactive path parameters between AUVs, the communication requirements are small, the actual engineering requirements can be met and a certain communication time delay can be allowed. Numerical simulation results verify the effectiveness of the control algorithm.