[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):633-637,643.[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,(05):633-637,643.[doi:10.3969/j.issn.1006-7043.201402003]
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2015年05期
页码:
633-637,643
栏目:
出版日期:
2015-05-25

文章信息/Info

Title:
Adaptive formation control strategy for under-actuated AUVs
作者:
黄海 张强 张树迪 万磊 庞永杰
哈尔滨工程大学 水下机器人技术重点实验室 船舶工程学院, 黑龙江 哈尔滨 150001
Author(s):
HUANG Hai ZHANG Qiang ZHANG Shudi WAN Lei PANG Yongjie
National Key Laboratory of Science and Technology on Underwater Vehicle, College of Shipbuilding, Harbin Engineering University, Harbin 150001, China
关键词:
自适应控制水下机器人欠驱动自主式水下机器人主从编队编队控制
分类号:
TP242
DOI:
10.3969/j.issn.1006-7043.201402003
文献标志码:
A
摘要:
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。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2014-2-14;改回日期:。
基金项目:国家自然科学基金资助项目(51209050);预研基金资助项目(9140C270306130C27102);机器人技术与系统国家重点实验室(哈尔滨工业大学)开放课题资助项目(SKLRS-2012-ZD-03).
作者简介:黄海(1978-),男,副教授,博士.
通讯作者:黄海,E-mail:haihus@163.com.
更新日期/Last Update: 2015-06-15