欠驱动AUV自适应编队控制策略

摘要

In order to realize formation control over under⁃actuatedautonomous underwater vehicles(AUVs), a cy⁃lindrical coordinate⁃system⁃based AUV kinematic model is proposed in this study. The model is used to set up the desirable formation region and the artificial potential functions for multi⁃AUV formation. Adaptive control strategy for multi⁃AUV formation is developed based on the dynamic AUV model. The strategy is verified through the Lyapunov function. In the simulation, three under⁃actuated AUV formation platforms are established and the characteristics of the under⁃actuated AUV are analyzed. With the artificial potential functions integrated in the system, the leader AUV has successfully tracked the 3D fold⁃line and screw⁃line path, and the followers maintain formation organiza⁃tion simultaneously. The relative distance error among AUVs approaches zero and maintains stability. Therefore, the adaptive formation control strategy for under⁃actuated AUVs is further verified through simulation, which is of great significance for research in the field of under⁃actuated AUV formation.%针对欠驱动AUV的编队问题，提出了基于柱坐标系的AUV运动学模型，以建立多AUV的期望编队区域和编队的人工势场函数。根据AUV的动力学模型建立多AUV自适应编队控制策略，并使用李雅普诺夫函数加以证明。在多AUV编队的仿真中，建立了3个欠驱动AUV编队的仿真平台，分析了欠驱动AUV在编队过程的特点，通过结合使用人工势场能函数，使领航员AUV在完成空间折线和螺旋线路径跟随同时，实现了跟随中多AUV的编队和队形保持，并使AUV之间的相对距离误差逐渐趋于零并保持稳定，从而证明了自适应编队控制策略，对欠驱动AUV编队的研究具有重要意义。