基于跟随领航者法的多UUV队形控制方法研究

本文主要研究基于跟随领航者法的多 UUV(unmanned underwater vehicle)队形控制。在 UUV 载体坐标系下建立系统的运动学模型,该模型是对笛卡尔坐标系下的运动学模型的改进,避免了极坐标系下奇异点的出现。该模型经过输入输出反馈线性化,获得稳定的队形控制器。同时,为了缩小队形控制律中的控制参数的调整范围,本文提出了辅助算法,在此基础上分析参数的有效范围。将队形控制律在多 UUV 数字仿真平台上验证,证实了改进的运动学模型和控制律的有效性。

This paper mainly studies multi-UUV' (unmanned underwater vehicles) formation control based on leader-follower configuration.We exploit body coordinate and come up with kinematics model.This model is improved through kinematics model in Cartesian coordinate,and avoids possible singularity points when using polar coordinate.Based on this model and input-output linearization approach,we get a stable controller.The article introduces an adjective approach to shrink the limits of the control parameters,which can be obtained accounted on the adjective approach.The results of vision simulation on the platform of multi-UUVs' digital simulation system prove the validity of the kinematics model and the controller,and the right values of the parameters make better effect on formation control.

国家863高科技发展计划(2006AA04Z262)资助项目