水下编队航行机器人的前馈加反馈控制器设计

介绍了一种能够实现水下机器人编队的分布式控制方法。在基于跟随机和领航机间的相对运动模型上，首先设计了前馈控制器及其内部模型以补偿视为外部信号的领航机信息，然后利用反推法设计了反馈镇定控制器，同时还设计了能够观测所有误差信号的状态观测器以实现反馈控制。算例仿真表明了应用设计的编队控制律，各个水下机器人能够较快地形成希望的编队，并按希望编队队形稳定航行，仿真结果验证了此种控制方法的有效性。

Feedforward/Feedback Controller for Formation Control of Multiple Autonomous Underwater Vehicles

A new distributed control method for the formation control of multiple AUVs was presented. Based on the relative moving equation between the leader AUV and the follower AUV, a feedforward controller and its internal model were designed to compensate the information of leader AUV regarded as an external signal and then a feedback controller was designed by means of backstepping to stabilize the system. In addition, a state observer used for observing all the error signal was designed to realize the feedback control. The simulated results with an example show that all AUVs can form desired formations quickly and move together with stable formation by means of the proposed feedforward/feedback formation control law; because of the above reason, the control law is valid.