[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(3):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(3):248-253.
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YUAN Jian,TANG Gongyou.Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure[J].CAAI Transactions on Intelligent Systems,2011,6(3):248-253.
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
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
6
期数:
2011年第3期
页码:
248-253
栏目:
学术论文—智能系统
出版日期:
2011-06-25
- Title:
- Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure
- 文章编号:
- 1673-4785(2011)03-0248-06
- 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 smallscale formation control of autonomous underwater vehicles (AUVs) was investigated with consensus algorithms and virtual structure. Firstly, considering the inconsistant virtualleader 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 smallscale formation control for AUVs in finitetime 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
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