自主水下航行器主从式编队控制

多自主水下航行器的协作已经成为当前的研究热点，编队控制是协作问题中的典型问题，也是其他协作问题的基础。该文建立了自主水下航行器主从式编队控制的数学模型，利用反馈线性化理论将模型简化为1阶动态系统，设计了编队控制律，从理论上证明了所设计控制律的稳定性以及内动态系统的稳定性。在此基础上，比较了2种不同拓扑方式下主从式编队控制下的编队误差。仿真结果表明了该编队控制算法的有效性，并且并联式主从编队下编队控制的误差要小于串联式主从编队。

Leader-Follower Formation Control of Autonomous Underwater Vehicles

Cooperation of multiple autonomous underwater vehicles(AUVs)has become a hotspot of current AUVs,in which formation control is the typical problem,and a basis of other cooperative control problems.A mathematic model of the formation control for AUVs was established,the feedback linearization was then used to simplify the model to a one order dynamic system,and the control law was derived.Stabilization of the control law and the inner dynamic system were proved.Furthermore,the formation errors of two leader-follower formation controls under different topologies were compared.Simulation results show validation of the algorithm,and the formation error in parallel connection mode is smaller than that in serial connection mode.