多UUV沿多条给定路径运动的协调编队控制

Coordinated control for multi-UUV formation motion on a set of given paths

摘要:

研究了在三维空间中多UUV的协调路径跟踪控制问题．应用分散控制策略将路径跟踪问题和个体间的速度协调编队解耦．在单个UUV的路径跟踪控制中引入视距导航(line of sight guidance)算法设计路径跟踪控制器,使得跟踪误差渐近收敛到零;引用图论知识设计协调控制器,使得多UUV沿期望路径的位置和速度在规定队形下达到一致,实现多UUV间的协调,而不影响空间域上的路径跟踪性能．

Abstract:

This paper addresses the problem of multi-UUV along given spatial paths with a given forward speed profile while holding a desired formation pattern in three-dimensional space. The decentralized controller is proposed to realize the coordinated path tracking of multi-UUV. In the path tracking control problem of a single UUV, we introduce line of sight navigation algorithm to design path tracking controller, making the tracking error converges to zero asymptotically; introduce graph theory to design coordination controller, making the multi-UUV reach consensus under the provisions formation along the position of desired path and speed, reaching coordination between multi-UUV, without affecting the path tracking performance in spatial domain.