摘要
针对时延条件下无人水下航行器(UUV)集群聚集控制问题,受不同尺度生物仿生机理启发,提出一种密集集群自适应聚集控制方法。首先,设计考虑近邻数量和空间分布的仿生邻居筛选机制,以此建立单近邻跟随与多近邻跟随耦合的自适应集群结队交互模型,确保交互邻居在数量和空间上最优。其次,结合结对交互模型与一致性协议、势场函数模型和扰动观测器,设计时延约束的UUV密集集群自适应聚集控制方法,避免集群发生碰撞和分裂。最后,通过Lyapunov定理证明时延条件下UUV密集集群状态一致性以及避碰和连通性保持。仿真结果验证了所设计控制方法的有效性和优越性。
To address the flocking control problem of a crowded unmanned undersea vehicle(UUV)swarm under time-delayconstraints,an adaptive flocking control approach was investigated using a multiscale bio-inspired mechanism.First,anadaptive flocking interaction model with a bio-inspired optimal neighbor selection strategy was established to robustly switchbetween single neighbor following and multiple neighbors following,which ensures the minimum quantity and optimaldistribution.Second,considering time-delay constraints,a flocking controller was developed by incorporating a consensusprotocol,potential field function model,and disturbance observer into the proposed interaction model,thereby guaranteeingcollision avoidance and connectivity maintenance.Finally,by virtue of the Lyapunov theorem,state consensus under the time-delay condition is proved.Simulation results verify the effectiveness and superiority of the proposed control method.
作者
梁洪涛
康凤举
LIANG Hongtao;KANG Fengju(School of Physics and Information Technology,Shaanxi Normal University,Xi’an 710119,China;School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an,710072,China)
出处
《水下无人系统学报》
2023年第2期221-228,258,共9页
Journal of Unmanned Undersea Systems
基金
国家自然基金(62203286)
陕西省自然科学基金(2022JM-312)
中央高校基本科研业务费专项项目(GK202103014)。
关键词
无人水下航行器
聚集控制
时延约束
避碰
连通性保持
unmanned undersea vehicle
flocking control
time-delay constraint
collision avoidance
connectivity maintenance
