摘要
研究了自治水下机器人(Autonomous Underwater Vehicle,AUV)三维环境中编队控制问题,应用领航-跟随式队形控制方法,仅利用领航者的位置信息及期望编队队形得到虚拟机器人的航行轨迹及速度信息,作为跟随者的航行参考量,应用反步及滑模控制方法为跟随者设计自适应控制律,使其轨迹收敛于虚拟机器人的轨迹,从而与领航者保持期望位姿关系。随后,在具体AUV动力学模型上,利用MATLAB/SIMULINK平台进行了编队控制的仿真研究,实现了预期的控制效果,验证了算法的有效性及实用性。
Formation control problem of autonomous underwater vehicles （AUV） in three-dimensional underwater environment is discussed in this paper. Leader-follower formation control method is applied. Reference trajectory and speed information of follower, namely virtual vehicle, is obtained based on the leader position and predetermined formation only. Then dynamic adaptive variable structure control law is designed for the follower using backstepping synthesis and sliding mode control method. The trajectory of the follower can converge to the virtual vehicle trajectory with the control law. Thus it maintains expected relationship with the leader. Then formation control simulation is implemented in specific AUV dynamics model with MATLAB/SIMULINK platform. Finally, the expected control effect is realized which verified the effectiveness and practicability of the proposed algorithm.
出处
《系统仿真技术》
2013年第3期193-198,212,共7页
System Simulation Technology
基金
国家自然科学基金资助项目(51075257
51279098)
上海市教委科研创新研究重点资助项目(13ZZ123)
作者简介
朱大奇,男（1964-），安徽安庚人，教授，博士生导师，博士，主要研究方向为水下机器人与智能信息处理。
杜青,女（1988-），河北石家庄人，硕士生，主要研究方向为水下机器人仿真技术与智能系统。
