多自主水下航行器系统一致性编队跟踪控制

研究了自主水下航行器的编队路径跟踪问题.基于无源性理论与一致性跟踪理论,在仅有部分AUV获取编队速度信息情形下,设计一种分布式控制律,实现了集群AUV的一致性编队跟踪.控制律分为2个部分:一部分基于无源性同步原理,建立了协同误差到跟踪误差的无源性通道；另一部分为一致性协同跟踪控制器,保证每个AUV相对于虚拟领航者的不一致参考信息通过协商达到最终一致状态.文章应用Nested Matrosov定理证明了整个闭环系统的稳定性,仿真结果验证了上述方法的有效性和可行性.

Consensus formation tracking control of multiple autonomous underwater vehicle systems

This paper investigates the problem of steering a group of autonomous underwater vehicles along specified paths while keeping a desired spatial formation. Based on passivity and consensus tracking theories, a distributed control strategy was derived, by which the consensus formation tracking problems for a group of autonomous underwater vehicles can be accomplished, when the common reference velocity signal is available to only a subset of the cooperating vehicles. The proposed control strategy can be divided into two parts. Firstly, a passivity channel from coordinated error to tracking error is established based on the passivity theory. Secondly, a coordinated consensus tracking strategy is derived to ensure each AUV for reaching a consistent state about the inconsistent reference information. The stability of the overall closedloop system is analyzed mathematically by adopting Nested Matrosov theorem. Simulation results are presented and discussed for validating the proposed controller.