| 具有通信约束的多UUV协调路径跟踪控制 |
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| 引用本文： | 牟春晖,边信黔,王宏健,李娟.具有通信约束的多UUV协调路径跟踪控制[J].鱼雷技术,2011,19(3):195-200. |
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| 作者姓名： | 牟春晖 边信黔 王宏健 李娟 |
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| 作者单位： | 哈尔滨工程大学自动化学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金，中央高校基金 |
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| 摘 要： | 针对多UUV间通过水声通信进行交互信息时存在时延的问题,研究了在通信时滞下多UUV沿多条给定路径编队运动的控制器设计问题。基于反步法设计了单个UUV的路径跟踪控制器,利用Lyapunov理论证明了路径跟踪控制系统是输入-状态稳定;针对通信拓扑中存在固定传输延迟问题,提出了基于平均一致连通性切换网络的时延协调控制律,并证明了当通信拓扑对应的无向图满足平均一致连通时,设计的编队控制系统是稳定的,有效地解决了通信时滞下多UUV的协调路径跟踪控制问题。仿真结果验证了该控制器的有效性。
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| 关 键 词： | 多UUV 路径跟踪 协调控制 通信时滞 |
Coordinated Path tracking Control of Multi-UUV with Communication Constraint |
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| MOU Chun-hui,BIAN Xin-qian,WANG Hong-jian,LI Juan.Coordinated Path tracking Control of Multi-UUV with Communication Constraint[J].Torpedo Technology,2011,19(3):195-200. |
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| Authors: | MOU Chun-hui BIAN Xin-qian WANG Hong-jian LI Juan |
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| Affiliation: | MOU Chun-hui,BIAN Xin-qian,WANG Hong-jian,LI Juan(College of Automation,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | Time delay exists in the underwater acoustic communication among UUVs.The purpose of this paper is to study multi-UUV coordinated control with time delay in communication for the path tracking of UUV formation.The path tracking controller of single UUV is designed based on backstepping method,and the path tracking control system is proved in-put-to-state stable by Lyapunov theory.Considering the fixed time delays in communication topology,a coordinated controller under time-delay based on uniformly connecte... |
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| Keywords: | multi-unmanned underwater vehicle(multi-UUV) path tracking coordinated control time delay in communica-tion |
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