Robust geometric formation control of multiple autonomous underwater vehicles with time delays
Robust geometric formation control of multiple autonomous underwater vehicles with time delays
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DOI：
10.1109/acc.2013.6580029
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发表时间：
2013-06
期刊：
影响因子：
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通讯作者：
Huizhen Yang;Chuanfeng Wang;Fumin Zhang
中科院分区：
文献类型：
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作者：
Huizhen Yang;Chuanfeng Wang;Fumin Zhang
本文开发了一种具有有限时间延迟的自主水下航行器的鲁棒控制器，以便 AUV 形成并保持所需的编队形状并跟踪所需的轨迹。我们对每个 AUV 使用六自由度动力学模型来描述其在三维空间中的运动。我们设计了一个基于反馈线性化的方向控制器，使得每个AUV的方向收敛到其期望值。我们导出 AUV 的编队动力学，并使用雅可比变换将动力学解耦为编队形状和编队中心。我们将地层动力学中的耦合视为扰动，并设计了一个强大的编队保持控制器来容忍扰动和时间延迟。我们在模拟中展示了控制器的有效性。
This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-freedom dynamic model for each AUV to describe its motions in the three-dimensional space. We design an orientation controller based on feedback linearization, so that the orientation of each AUV converges to its desired value. We derive formation dynamics of AUVs and decouple the dynamics into a formation shape and a formation center, using the Jacobi transform. We treat couplings in the formation dynamics as perturbations and design a robust formation-keeping controller to tolerate both the perturbations and the time delays. We demonstrate the effectiveness of our controller in simulations.