[1]袁健,张文霞,周忠海.全驱动式自主水下航行器有限时间编队控制[J].哈尔滨工程大学学报,2014,(10):1276-1281.[doi:10.3969/j.issn.1006-7043.201307070]
 YUAN Jian,ZHANG Wenxia,ZHOU Zhonghai.Finite-time formation control for full-actuated autonomous underwater vehicles[J].hebgcdxxb,2014,(10):1276-1281.[doi:10.3969/j.issn.1006-7043.201307070]
点击复制

全驱动式自主水下航行器有限时间编队控制
分享到:

《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2014年10期
页码:
1276-1281
栏目:
出版日期:
2014-10-25

文章信息/Info

Title:
Finite-time formation control for full-actuated autonomous underwater vehicles
作者:
袁健123 张文霞4 周忠海123
1. 国家海洋监测设备工程技术研究中心, 山东 青岛 266001;
2. 山东省海洋环境监测技术重点实验室, 山东 青岛 266001;
3. 山东省科学院 海洋仪器仪表研究所, 山东 青岛 266001;
4. 青岛理工大学 琴岛学院, 山东 青岛 266100
Author(s):
YUAN Jian123 ZHANG Wenxia4 ZHOU Zhonghai123
1. National Center for Ocean Monitoring Equipment Engineering Research, Qingdao 266001, China;
2. Shandong Provincial Key Laboratory of Ocean Environment Monitoring Technology, Qingdao 266001, China;
3. Institute of Oceanographic Instrumentation of Shandong Academy of Sciences, Qingdao 266001, China;
4. Qindao College, Qingdao Technological University, Qingdao 266100, China
关键词:
全驱动式自主水下航行器编队控制有限时间一致性可变通信拓扑
分类号:
TP243
DOI:
10.3969/j.issn.1006-7043.201307070
文献标志码:
A
摘要:
为了研究了 全驱动式自主水下航行器有限时间编队控制问题。针对多AUV编队控制过程中的可变通信拓扑情形,首先通过预定义AUV间的通信距离,将多AUV系统建模为通信拓扑可变系统。其次对AUV三维运动学和动力学进行建模;为实现多AUV编队控制的有限时间控制,提出一种有限时间的二阶一致性控制算法,对AUV的速度(线速度和角速度)和位置(平移和角度)进行一致性协同控制,利用一致性协同后的速度量和位置量以及各AUV的动力学方程,求解各AUV的推力和推力矩。最后通过对可变通信拓扑情形下的多AUV编队控制进行了数值仿真,验证了所提有限时间编队控制策略的有效性。

参考文献/References:

[1] LEWIS M A, TAN K H. High precision formation control of mobile robots using virtual structure approach[J]. Autonomous Robots, 1997, 4: 387-403.
[2] LEONARD N E, FIORELLI E. Virtual leader, artificial potentials and coordinated control of groups[C]//Proceedings of IEEE Conference on Decision and Control. Orlando, USA, 2001: 2968-2973.
[3] LAWTON A R, YOUNG B J, BEARD R W. A decentralized approach to elementary formation maneuvers[C]//IEEE International Conference on Robotics and Automation. San Francisco, USA, 2000: 2728-2733.
[4] LAWTON J R, BEARD R W, YOUNG B J. A decentralized approach to formation maneuvers[J]. IEEE Transactions on Robotics and Automation, 2003, 19(6): 933-941.
[5] REN W, SORENSEN N. Distributed coordination architecture for multi-robot formation control [J]. Robotics and Autonomous Systems, 2008, 56(4): 324-333.
[6] REN W, BEARD R W. Decentralized scheme for spacecraft formation flying via the virtual structure approach[J]. Journal of Guidance, Control and Dynamics, 2004, 27(1): 73-82.
[7] XIANG X B, GUAN Z H. Coordinated control for multi-AUV systems based on hybrid automata[C]//Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics. Sanya, China, 2007: 2121-2126.
[8] TANGIRALA S, KUMAR R, BHATTACHARYYA S, et al. Hybrid-model based hierarchical mission control architecture for autonomous underwater vehicles[C]//American Control Conference. Portland, USA, 2005: 668-673.
[9] YANG E F, GU D B. Nonlinear formation-keeping and mooring control of multiple autonomous underwater vehicles[J]. IEEE/ASME Transactions on Mechatronics, 2007, 2(2): 164-178.
[10] KALANTAR S, ZIMMER U R. Distributed shape control of homogeneous swarms of autonomous underwater vehicles[J]. Autonomous Robots, 2007, 22(1): 37-53.

相似文献/References:

[1]黄海,张强,张树迪,等.欠驱动AUV自适应编队控制策略[J].哈尔滨工程大学学报,2015,(05):633.[doi:10.3969/j.issn.1006-7043.201402003]
 HUANG Hai,ZHANG Qiang,ZHANG Shudi,et al.Adaptive formation control strategy for under-actuated AUVs[J].hebgcdxxb,2015,(10):633.[doi:10.3969/j.issn.1006-7043.201402003]
[2]潘无为,姜大鹏,庞永杰,等.相位耦合振子模型下的AUV自适应编队控制算法[J].哈尔滨工程大学学报,2017,38(01):115.[doi:10.11990/jheu.201602044]
 PAN Wuwei,JIANG Dapeng,PANG Yongjie,et al.Adaptive formation control algorithm for AUV on the basis of the coupled phase oscillator model[J].hebgcdxxb,2017,38(10):115.[doi:10.11990/jheu.201602044]

备注/Memo

备注/Memo:
收稿日期:2013-7-29;改回日期:。
基金项目:国家自然科学基金资助项目(61074092);山东省自然科学基金资助项目(ZR2012FL18);山东省海洋生态环境与防灾减灾重点实验室开放基金资助项目(201308);海洋公益性项目资助项目(201005025-1);青岛市科技发展计划资助项目(13-1-4-172-jch);山东省科学院科技发展计划资助项目(201244);国际科技合作项目资助项目(2011DFR60810).
作者简介:袁健(1980-),男,助理研究员,博士.
通讯作者:袁健,E-mail:jyuanjian801209@163.com.
更新日期/Last Update: 2015-06-19