非理想通信下UUV集群编队合围控制和拓扑优化技术

面向探测、追踪与处置水下非合作目标需求，相比于单UUV平台，UUV集群在探测范围、识别可靠性、目标定位和跟踪精度、毁伤效能等方面具有明显优势。考虑水声通信延迟大、带宽低、误码率高、间歇性中断等问题，开展弱通信、不可靠通信、无通信等非理想通信网络环境下的UUV集群编队合围控制与拓扑优化技术研究。通过提出新思路和新方法，重点突破随机长时延下UUV集群编队合围控制与拓扑优化配置、弱稳健低置信水声通信下UUV集群编队合围控制与拓扑重构优化、无通信条件下UUV集群智能编队合围控制与拓扑预测延拓优化三个核心难点，探索非理想水声通信环境、信息交互拓扑和协同控制策略之间的相互影响关系，形成受限通信下UUV集群编队合围控制与拓扑优化方案，针对所提方法进行数值仿真分析，并结合无人集群平台开展试验验证，为真实海洋环境中UUV集群协同探测与处置敌方高价值目标提供理论和技术支撑。

With respect to detection, tracking and disposal of underwater non-cooperative targets, compared with a single UUV platform, multi-UUV systems have significant advantages in the aspects of detection range, identification reliability, target location and tracking accuracy, damage efficiency, and so on. Considering negative effects of large delays, low bandwidth, high bit error rates and intermittent interruption induced by underwater acoustic communication, we develop the study on formation-containment control and topology optimization of multi-UUV systems with weak communication, unreliable communication and no communication. By putting forward new ideas and novel methods, three thorny issues, namely the formation-containment control and optimal topology configuration under random long communication delays, the formation-containment control and optimal topology reconstruction under unstable and misleading communication and the intelligent formation-containment control and optimal topology prediction and extension with no communication, are handled. This work explores the interactions among non-ideal underwater acoustic communication environments, network topology structure and cooperative control strategy, and offers solutions to the above-mentioned issues. Numerical experiments and practical examples based on a multi-agent system platform are also presented to demonstrate the feasibility and effectiveness of the proposed design techniques, which will provide theoretical basis and technical support for collaborative detection and disposal of enemy high-value targets by multiple UUVs in real Marine environments.