山东科学2012，Vol.25Issue(3)：103-107,5.
多自主水下航行器的有限时间无碰撞协调控制方法
Finite-time collision-free coordination control approach for autonomous underwater vehicles
袁健 1张文霞 2周忠海1
作者信息
- 1. 山东省科学院海洋仪器仪表研究所,山东青岛266001
- 2. 青岛理工大学琴岛学院机电系,山东青岛266016
- 折叠
摘要
Abstract
This paper addresses the finite-time cooperative control for autonomous underwater vehicles （AUVs）. We present a multi-agent control based finite-time consensus tracking control law. A virtual force is given to achieve the collision-free coordination control among many AUVs by vector composition with the law. Simulation results demonstrate the effectiveness of the proposed control scheme.关键词
自主水下航行器/虚拟力/虚拟领航者/有限时间一致性/协调控制Key words
autonomous underwater vehicles/virtual force/virtual pilot/finite-time consensus/cooperative control分类
信息技术与安全科学引用本文复制引用
袁健,张文霞,周忠海..多自主水下航行器的有限时间无碰撞协调控制方法[J].山东科学,2012,25(3):103-107,5.
