中国舰船研究2025，Vol.20Issue(1)：360-368,9.DOI:10.19693/j.issn.1673-3185.03696
多自主水下航行器分布式三维仿射编队机动控制
Distributed three-dimensional affine formation maneuver control for multiple autonomous underwater vehicles
摘要
Abstract
[Objectives]To improve the ability of autonomous underwater vehicle(AUV)formations to per-form tasks in complex obstacle scenarios,a distributed three-dimensional affine formation shape maneuver control method is proposed for multi-AUV formations.[Methods]Based on the affine transformation the-ory and stress matrix,AUV formation shape can achieve rotation,scaling,shear,coplanarity,collineation,or their combination.Meanwhile,the yaw consistency of the multi-AUV formation is achieved based on the Laplacian matrix.Furthermore,a non-singular integral terminal sliding mode controller is employed to ensure that the multi-AUV formation can track the desired trajectory fast and with high accuracy.[Results]Through high-fidelity simulation experiments,the proposed AUV formation maneuver control method can drive the multi-AUV formation to realize the high-precision maneuvering transformation of a three-dimensional formation with high maneuverability and strong robustness.[Conclusions]The proposed method enables the multi-AUV formation to avoid complex underwater obstacles by flexible maneuvering formation,which improves the safety of the AUV formation and its ability to perform tasks.关键词
自主水下航行器/编队控制/滑模控制/避障/仿射变换Key words
autonomous underwater vehicles/formation control/sliding mode control/collision avoid-ance/affine transformation分类
交通工程引用本文复制引用
姚明启,于林,郭凯,陆宇,乔磊..多自主水下航行器分布式三维仿射编队机动控制[J].中国舰船研究,2025,20(1):360-368,9.基金项目
国家自然科学基金资助项目(52101365) （52101365）
上海市青年科技英才扬帆计划资助项目(21YF1419800) （21YF1419800）
中国科协青年人才托举工程资助项目(2021QNRC001) （2021QNRC001）
中核集团"领创科研"资助项目 （）
中核集团"青年英才"资助项目 （）
上海交通大学深蓝计划资助项目(SL2021PT107). （SL2021PT107）
