摘要
针对多自主水下航行器(AUV)的编队路径跟踪控制问题,提出了基于Serret-Frenet坐标系的虚拟结构编队控制方法,分为单个AUV队形路径跟踪控制,以及多个AUV间路径跟踪参考点的一致性协调控制两部分。首先为每个AUV定义一个沿期望路径运动的路径跟踪参考点,并以其为原点建立Serret-Frenet坐标系描述编队跟踪误差及动态模型。通过对AUV的航向角和速度的控制,使其跟踪并收敛于该Serret-Frenet坐标系下的期望队形位置。然后采用基于比例-积分控制的一致性算法,调节各个参考点的路径参数变化率使其达到一致,并以给定的期望速度沿路径运动。通过数学仿真实现了3个AUV以一定队形跟踪期望路径,验证了该算法的有效性。
A virtual structure formation control method based on a Serret-Frenet coordinate system is proposed tor tide formation path following control of multiple autonomous underwater vehicles（AUVs）. The formation control system is composed of two parts, namely, the path following control for each AUV and the consistency coordination control for the path following reference points of multiple AUVs. Firstly, a path following reference point is defined for each AUV which moves along the desired path, and a Serret-Frenet coordinate system, which takes the reference point as its origin, is built to describe the formation path following errors and the dynamic model. The course angle and velocity are prop- erly controlled to make the AUV converge to its predefined desired position in the Serret-Frenet coordinate system. Secondly, a proportional-integral consistency algorithm for path parameters is designed for all AUVs to make the virtual reference points synchronously move at a given change rate along the desired path with the desired velocity. At last, three AUVs in following a desired path with a certain formation are simulated, and the results validate the effectiveness of the proposed control method.
出处
《鱼雷技术》
2015年第1期35-39,共5页
Torpedo Technology
