Formation Control of Autonomous Underwater Vehicles under Fixed Topology
Formation Control of Autonomous Underwater Vehicles under Fixed Topology
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DOI：
10.1109/icca.2007.4376895
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发表时间：
2007-11
期刊：
影响因子：
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通讯作者：
Rongxin Cui;Demin Xu;Weisheng Yan
中科院分区：
文献类型：
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作者：
Rongxin Cui;Demin Xu;Weisheng Yan
编队控制是多自主水下机器人（AUV）协同作战的基本问题。针对这一问题，提出了一种固定互连拓扑下的控制方法。在我们的算法中，每个AUV有两个竞争目标，一个是遵循预定义的路径，另一个是保持与邻居的几何配置。在此基础上，针对参数不确定性和环境干扰的影响，定义了系统误差函数，并针对每个AUV设计了自适应滑模变结构控制律。从理论上证明了所提出的控制律的收敛性。进一步讨论了路径变量的更新规律。仿真结果验证了该控制方法的有效性。
Formation control is a basic problem in cooperation of multiple autonomous underwater vehicles (AUVs). To address this problem, we proposed a control method under fixed interconnection topology. In our algorithm, each AUV has two competitive objectives, one is following a predefined path, and another is to maintain a geometric configuration with its neighbors. Based on this, we defined the system error function and designed an adaptive sliding variable structure control law for each AUV because of the parameter uncertainty and environmental disturbances. Convergence of the proposed control law was proved in theory. Further, the path variable update law was discussed. Simulation results demonstrate the effectiveness of the proposed control method.