[1]袁健,唐功友.采用一致性算法与虚拟结构的多自主水下航行器编队控制[J].智能系统学报,2011,6(03):248-253.
 YUAN Jian,TANG Gongyou.Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure[J].CAAI Transactions on Intelligent Systems,2011,6(03):248-253.
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采用一致性算法与虚拟结构的多自主水下航行器编队控制(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第6卷
期数:
2011年03期
页码:
248-253
栏目:
出版日期:
2011-06-25

文章信息/Info

Title:
Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure
文章编号:
1673-4785(2011)03-0248-06
作者:
袁健唐功友
中国海洋大学 信息科学与工程学院,山东 青岛 266100
Author(s):
YUAN Jian TANG Gongyou
College of Information Science and Engineering, Ocean University of China, Qingdao 266100, China
关键词:
自主水下航行器编队控制一致性算法虚拟领航者
Keywords:
autonomous underwater vehicle formation control consensus algorithms virtual leader
分类号:
TP24
文献标志码:
A
摘要:
采用一致性算法与虚拟结构法研究了多自主水下航行器(AUV)小尺度编队控制问题.首先针对各自主水下航行器拥有不同虚拟领航者信息(参考信息)的情况,通过对各AUV拥有的不一致参考信息进行一致性协商而达到状态一致.其次,基于虚拟结构思想采用坐标变换将各AUV相对于虚拟领航者的相对位置转换为各自的期望位置,并设计了一种有限时间跟踪控制律以确保各AUV能在有限时间内跟踪上其期望轨迹,从而实现了多AUV的小尺度有限时间编队控制.最后仿真实验验证了控制策略的有效性.
Abstract:
The smallscale formation control of autonomous underwater vehicles (AUVs) was investigated with consensus algorithms and virtual structure. Firstly, considering the inconsistant virtualleader information (reference information) for each AUV, a consensus algorithm was adopted to negothiate the inconsistant reference information for each AUV, helping them reach a consistant state. Secondly, the relative positions to the virtual leader were transformed into their desired positions with coordinate transformation based on virtual structure, and a control law was proposed to make the AUVs track the desired trajectories in finite time. The smallscale formation control for AUVs in finitetime was carried out. Finally, Experimental results were provided to demonstrate the effectiveness of the proposed methods.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2010-05-26.
基金项目:国家自然科学基金资助项目(61074092).
通信作者:袁健.E-mail:jyuanjian801209@163.com.
作者简介:
袁健,男,1980年生,博士研究生,主要研究方向为网络化机器人系统编队控制,发表学术论文10余篇.
唐功友,男,1953年生,教授,博士生导师,IEEE高级会员,山东省自动化学会常务理事等.主要研究方向为计算机控制、非线性控制、网络控制系统.承担国家自然科学基金、“863”计划子课题以及省级科研基金等科研项目10余项.曾获国家教委科技进步一等奖1项,国家教委(教育部)科技进步二等奖3项,中国出版协会“优秀学术专著一等奖”1项,山东省第二届优秀科技成果二等奖1项,以及中国海洋大学科技进步二等奖1项等多项荣誉.发表学术论文100余篇,其中被SCI、EI检索60余篇,出版专著1部.
更新日期/Last Update: 2011-07-23