| 引用本文: | 边信黔,牟春晖,严浙平.多UUV沿多条给定路径运动的协调编队控制[J].哈尔滨工业大学学报,2013,45(1):106.DOI:10.11918/j.issn.0367-6234.2013.01.020 |
| BIAN Xinqian,MU Chunhui,YAN Zheping.Coordinated control for multi-UUV formation motion on a set of given paths[J].Journal of Harbin Institute of Technology,2013,45(1):106.DOI:10.11918/j.issn.0367-6234.2013.01.020 |
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| 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． |
| 关键词: 多UUV 协调控制 路径跟踪 视距导航 图论 |
| DOI：10.11918/j.issn.0367-6234.2013.01.020 |
| 分类号:U661 |
| 基金项目:国家自然科学基金资助项目 (51179038). |
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| Coordinated control for multi-UUV formation motion on a set of given paths |
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BIAN Xinqian, MU Chunhui, YAN Zheping
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College of Automation, Harbin Engineering University, 150001 Harbin, China
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| 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. |
| Key words: multi-UUV coordinated control path tracking line of sight guidance graph theory |
