| 采用一致性算法与虚拟结构的多自主水下航行器编队控制 |
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| 引用本文： | 袁健,唐功友. 采用一致性算法与虚拟结构的多自主水下航行器编队控制[J]. 智能系统学报, 2011, 6(3): 248-253. DOI: 10.3969/j.issn.1673-4785.2011.03.009 |
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| 作者姓名： | 袁健 唐功友 |
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| 作者单位： | 中国海洋大学 信息科学与工程学院,山东青岛,266100 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 采用一致性算法与虚拟结构法研究了多自主水下航行器(AUV)小尺度编队控制问题.首先针对各自主水下航行器拥有不同虚拟领航者信息(参考信息)的情况,通过对各AUV拥有的不一致参考信息进行一致性协商而达到状态一致.其次,基于虚拟结构思想采用坐标变换将各AUV相对于虚拟领航者的相对位置转换为各自的期望位置,并设计了一种有限时间跟踪控制律以确保各AUV能在有限时间内跟踪上其期望轨迹,从而实现了多AUV的小尺度有限时间编队控制.最后仿真实验验证了控制策略的有效性.
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| 关 键 词： | 自主水下航行器 编队控制 一致性算法 虚拟领航者 |
Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure |
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| YUAN Jian,TANG Gongyou. Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure[J]. CAAL Transactions on Intelligent Systems, 2011, 6(3): 248-253. DOI: 10.3969/j.issn.1673-4785.2011.03.009 |
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| Authors: | YUAN Jian TANG Gongyou |
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| Affiliation: | YUAN Jian,TANG Gongyou(College of Information Science and Engineering,Ocean University of China,Qingdao 266100,China) |
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| Abstract: | The small-scale formation control of autonomous underwater vehicles(AUVs) was investigated with consensus algorithms and virtual structure. Firstly,considering the inconsistant virtual-leader information(reference information) for each AUV,a consensus algorithm was adopted to negothiate the inconsistant reference information for each AUV,helping them reach a consistant state. Secondly,the relative positions to the virtual leader were transformed into their desired positions with coordinate transformation ba... |
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| Keywords: | autonomous underwater vehicle formation control consensus algorithms virtual leader |
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