电子科技大学学报2026，Vol.28Issue(4)：541-553,13.DOI:10.12178/1001-0548.2025094
基于分布式滑模预测控制的AUV集群多目标围捕方法
Distributed sliding model predictive control-based multi-target enclosing for autonomous underwater vehicle swarm
摘要
Abstract
To address the challenges of limited local perception,model uncertainty,and unknown external disturbances in multi-target enclosing tasks for autonomous underwater vehicle(AUV)swarms,this paper proposes a group cooperative enclosing strategy that integrates a distributed observer with model predictive control(MPC).First,a dynamic model of the AUV swarm is constructed under a multi-target enclosing scenario.A distributed observer with local information fusion capability is designed to enable parallel estimation of multiple target states and achieve global consensus-based reconstruction.Subsequently,based on task relevance and spatial topology,the swarm is divided into several functional subgroups,forming a dynamic"subgroup-target"coupling structure.For each subgroup,a constrained MPC controller is designed to dynamically enclose its assigned target by solving an optimal control sequence over a finite prediction horizon in a receding horizon fashion.The proposed approach explicitly considers input saturation and inter-agent cooperation constraints,thereby achieving a balance between control accuracy and system robustness.Simulation results demonstrate the effectiveness and stability of the proposed method in dynamic multi-target environments,highlighting its strong engineering applicability and potential for practical deployment.关键词
AUV集群/多目标围捕/滑模预测控制/分布式观测器Key words
autonomous underwater vehicle swarm/multi-target enclosing/sliding model predictive control/distributed observer分类
信息技术与安全科学引用本文复制引用
李维豪,施孟佶,王朝阳,林伯先,秦开宇..基于分布式滑模预测控制的AUV集群多目标围捕方法[J].电子科技大学学报,2026,28(4):541-553,13.基金项目
国家社科基金西部项目(23XMZ023) （23XMZ023）
2025年度广西高等教育本科教学改革工程项目(2025JGB452). （2025JGB452）
