控制理论与应用2013，Vol.30Issue(3)：379-384,6.DOI:10.7641/CTA.2013.20422
多自主水下航行器系统一致性编队跟踪控制
Consensus formation tracking control of multiple autonomous underwater vehicle systems
摘要
Abstract
This paper investigates the problem of steering a group of autonomous underwater vehicles along specified paths while keeping a desired spatial formation. Based on passivity and consensus tracking theories, a distributed control strategy was derived, by which the consensus formation tracking problems for a group of autonomous underwater vehicles can be accomplished, when the common reference velocity signal is available to only a subset of the cooperating vehicles. The proposed control strategy can be divided into two parts. Firstly, a passivity channel from coordinated error to tracking error is established based on the passivity theory. Secondly, a coordinated consensus tracking strategy is derived to ensure each AUV for reaching a consistent state about the inconsistent reference information. The stability of the overall closed-loop system is analyzed mathematically by adopting Nested Matrosov theorem. Simulation results are presented and discussed for validating the proposed controller.关键词
协同控制/编队控制/自主水下航行器/无源性/一致性跟踪Key words
cooperative control/ formation control/ autonomous underwater vehicle/ passivity/ consensus tracking分类
信息技术与安全科学引用本文复制引用
王银涛,严卫生..多自主水下航行器系统一致性编队跟踪控制[J].控制理论与应用,2013,30(3):379-384,6.基金项目
国家自然科学基金资助项目(51209175) （51209175）
西北工业大学基础研究基金资助项目(JC201229). （JC201229）
