鱼雷技术Issue(6)：431-435,5.
障碍物环境下的多AUV主从式编队控制
Multi-AUV Leader-Follower Formation Control in Obstacle Environment
摘要
Abstract
When obstacles exist in the environment, the follower in a leader-follower formation may collide with the obstacles. To solve this problem, we put forward a multi-AUV leader-follower formation control method for obstacles environment to avoid obstacle by changing multi-AUV formation target, and establish a corresponding mathematical model. For the leader-follower formation control, the underactuated multi-AUV formation control is analyzed based on cascading method. The follower tracking system is decomposed into mutually cascaded position tracking system and heading angle tracking system. The control parameters that make system global uniform and asymptotic stable are de-rived. Simulation results show that the proposed formation control is effective in obstacle avoidance, and the control design can guarantee asymptotic stability of closed loop system.关键词
自主水下航行器/编队控制/主从式/障碍物Key words
autonomous underwater vehicle/formation control/leader-follower/obstacle分类
信息技术与安全科学引用本文复制引用
陈伟,严卫生,崔荣鑫..障碍物环境下的多AUV主从式编队控制[J].鱼雷技术,2013,(6):431-435,5.基金项目
国家自然科学基金资助项目(51109179,50979093) （51109179,50979093）
