哈尔滨工程大学学报Issue(10)：1276-1281,6.DOI:10.3969/j.issn.1006-7043.201307070
全驱动式自主水下航行器有限时间编队控制
Finite-time formation control for full-actuated autonomous underwater vehicles
摘要
Abstract
In order to study the finite⁃time control of the full⁃actuated AUV formation, formation control of the full⁃actuated autonomous underwater vehicles ( AUVs) was investigated. The multi-AUV formation system was modeled as a system with variable communication topologies by predefining the communication ranges among AUVs. Next, the kinematics and dynamics equations were modeled. A finite-time consensus algorithm for second-order system was proposed and the consensus on velocities of AUV ( linear velocity and angular velocity ) and positions ( dis⁃placement and angles) were carried out. The velocities and positions based on consensus control were substituted into the dynamics equations of every AUV, so the thrust and thrust torque were obtained in three-dimension space. This paper demonstrated the effectiveness of the proposed formation control for multiple AUVs with constraints on variable communication.关键词
全驱动式自主水下航行器/编队控制/有限时间一致性/可变通信拓扑Key words
full-actuated autonomous underwater vehicle/formation control/finite-time consensus/variable com-munication topology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..全驱动式自主水下航行器有限时间编队控制[J].哈尔滨工程大学学报,2014,(10):1276-1281,6.基金项目
国家自然科学基金资助项目（61074092）；山东省自然科学基金资助项目（ ZR2012FL18）；山东省海洋生态环境与防灾减灾重点实验室开放基金资助项目（201308）；海洋公益性项目资助项目（201005025-1）；青岛市科技发展计划资助项目（13-1-4-172-jch）；山东省科学院科技发展计划资助项目（201244）；国际科技合作项目资助项目（2011DFR60810）． （）
