哈尔滨工程大学学报Issue(5)：633-637,643,6.DOI:10.3969/j.issn.1006-7043.201402003
欠驱动AUV自适应编队控制策略
Adaptive formation control strategy for under-actuated AUVs
摘要
Abstract
In order to realize formation control over under⁃actuatedautonomous underwater vehicles(AUVs), a cy⁃lindrical coordinate⁃system⁃based AUV kinematic model is proposed in this study. The model is used to set up the desirable formation region and the artificial potential functions for multi⁃AUV formation. Adaptive control strategy for multi⁃AUV formation is developed based on the dynamic AUV model. The strategy is verified through the Lyapunov function. In the simulation, three under⁃actuated AUV formation platforms are established and the characteristics of the under⁃actuated AUV are analyzed. With the artificial potential functions integrated in the system, the leader AUV has successfully tracked the 3D fold⁃line and screw⁃line path, and the followers maintain formation organiza⁃tion simultaneously. The relative distance error among AUVs approaches zero and maintains stability. Therefore, the adaptive formation control strategy for under⁃actuated AUVs is further verified through simulation, which is of great significance for research in the field of under⁃actuated AUV formation.关键词
自适应控制/水下机器人/欠驱动/自主式水下机器人/主从编队/编队控制Key words
adaptive control/underwater vehicles/under-actuation/autonomous underwater vehicles(AUVs)/leader-follower formation/formation control分类
信息技术与安全科学引用本文复制引用
黄海,张强,张树迪,万磊,庞永杰..欠驱动AUV自适应编队控制策略[J].哈尔滨工程大学学报,2015,(5):633-637,643,6.基金项目
国家自然科学基金资助项目（51209050）；预研基金资助项目（9140 C270306130C27102）；机器人技术与系统国家重点实验室（哈尔滨工业大学）开放课题资助项目（SKLRS-2012-ZD-03）． （）
