仅利用位置信息的自主水下航行器主从式编队控制方法

研究了自主水下航行器的主从式编队控制问题，提出了跟随者仅利用领航者的位置及航向信息，而不利用领航者的速度、角速度和动力学模型信息的编队控制方法。根据领航者的运动状态及期望的编队队形推导出跟随者的参考路径，并仅利用领航者的位置及航向信息设计一虚拟航行器，使其轨迹与参考路径在有限时间内重合。考虑了水下航行器的参数不确定性以及海流干扰等特点，给出了跟随者的自适应变结构控制律，使得跟随者沿着虚拟航行器的轨迹运动，从而与领航者保持期望的距离，达到编队控制的目的。仿真结果表明所提出的算法是有效的。

Leader-Follower Formation Control of Autonomous Underwater Vehicles Using Position Information Only

Leader-follower formation control of autonomous underwater vemcles was studied, and a formation control algorithm was presented, of which the followers only need to use the position and heading informations of leader rather than its velocity, angular velocity and dynamic model informa?tions .A reference trajectory of the followers was derived from the leader’s sailing state and the desired formation, and a virtual vehicle, which trajectory coincides with the reference route at a limited time, was designed by only using the leader’s position and heading information. An adaptive variaole struc?ture control law was proposed for the follower in consideration of the parameter uncertainty of vehicle and the ocean current disturbance. The law enables the follower to move along the trajectory of virtual vehicle to keep tke follower at a desired distance for formation purpose. Simulation results skow tKat the proposed control law is valid.