Leader-Follower Formation Control of UUVs with Model Uncertainties, Current Disturbances, and Unstable Communication.
Leader-Follower Formation Control of UUVs with Model Uncertainties, Current Disturbances, and Unstable Communication.
复制标题
具有模型不确定性、电流干扰和不稳定通信的 UUV 的主从编队控制
DOI：
10.3390/s18020662
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发表时间：
2018-02-23
期刊：
影响因子：
--
通讯作者：
Liu Y
中科院分区：
文献类型：
--
作者：
Yan Z;Xu D;Chen T;Zhang W;Liu Y
近年来，无人潜航器（uuv）作为移动传感器网络在水下环境的调查、测量和探索中得到了迅速发展。本文的目标是开发一种实用高效的编队控制方法，以提高多uuv传感器网络的工作效率。基于状态反馈和一致性算法，设计了分布式leader-follower群体控制器。考虑到每辆车都存在模型不确定性和电流干扰，采用状态反馈线性化方法建立了电流干扰下具有非线性函数的二阶积分UUV模型。针对uuv间通信不稳定问题，考虑了通信故障和声链路噪声干扰。为了解决通信故障问题，提出了两层随机交换通信拓扑结构。对于声链路噪声干扰，在设计控制器时必须准确地表示有效的通信信息并去除噪声。设计有效的通信拓扑权值来表示受噪声干扰的通信信息的有效性。利用状态反馈和噪声剥离，提出了在模型不确定性、电流干扰和不稳定通信条件下，保证UUV编队一致性的充分条件。利用Lyapunov-Razumikhin定理证明了编队控制器的稳定性，并通过仿真结果验证了算法的有效性。
Unmanned underwater vehicles (UUVs) have rapidly developed as mobile sensor networks recently in the investigation, survey, and exploration of the underwater environment. The goal of this paper is to develop a practical and efficient formation control method to improve work efficiency of multi-UUV sensor networks. Distributed leader-follower formation controllers are designed based on a state feedback and consensus algorithm. Considering that each vehicle is subject to model uncertainties and current disturbances, a second-order integral UUV model with a nonlinear function is established using the state feedback linearized method under current disturbances. For unstable communication among UUVs, communication failure and acoustic link noise interference are considered. Two-layer random switching communication topologies are proposed to solve the problem of communication failure. For acoustic link noise interference, accurate representation of valid communication information and noise stripping when designing controllers is necessary. Effective communication topology weights are designed to represent the validity of communication information interfered by noise. Utilizing state feedback and noise stripping, sufficient conditions for design formation controllers are proposed to ensure UUV formation achieves consensus under model uncertainties, current disturbances, and unstable communication. The stability of formation controllers is proven by the Lyapunov-Razumikhin theorem, and the validity is verified by simulation results.
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