面向海流扰动和通信时延的欠驱动AUV编队跟踪控制

doi:10.12382/bgxb.2023.0417

摘要/Abstract

摘要：

由欠驱动自主水下航行器(Autonomous Underwater Vehicle,AUV)编队组成的水下探测阵列具有响应快、机动性好、智能化程度高的特点。针对无速度信息传输的多AUV在海流和时延复合扰动下的编队控制问题,提出一种虚拟轨迹、轨迹预测、自适应反演滑模控制技术相结合的编队控制方法。使用领航者的位置信息和期望队形得到跟随者的参考轨迹,并引入虚拟轨迹使其与跟随者参考轨迹有限时间重合,从而得到跟随者的期望位置和速度。在此基础上,使用最小二乘法拟合轨迹曲线进行时延补偿,并通过自适应反演滑模控制技术完成海流干扰下的编队轨迹跟踪。理论分析和仿真结果表明,新方法具有可行性和有效性。

关键词: 欠驱动自主水下航行器, 编队控制, 自适应反演滑模控制, 虚拟轨迹, 时延

Abstract:

The underwater detection array composed of underactuated autonomous underwater vehicle (AUV) formation has the fast response, good maneuverability, and high intelligence. For the formation control problem of multi-autonomous underwater vehicles without speed information transmission under the combined disturbance of current and time delay, a formation control method which combines the virtual trajectory, trajectory prediction, and adaptive inversion sliding mode control technique is proposed. The position information of navigator and the expected formation are used to obtain the reference trajectory of follower, and introduce a virtual trajectory to make it coincide with the reference trajectory for a finite time, thereby obtaining the expected position and velocity of the follower. On this basis, the least squares method is used to fit the trajectory curve to compensate for the delay, and to complete the formation trajectory tracking under the interference of current through the adaptive backstepping sliding mode control technology. The theoretical analysis and simulated results indicate that the designed method is feasible and effective.

Key words: underactuated autonomous underwater vehicle, formation control, adaptive backstepping sliding mode control, virtual trajectory, time delay

中图分类号:

TP273⁺.5

丁文俊, 张国宗, 刘海旻, 柴亚军, 王驰宇, 毛昭勇. 面向海流扰动和通信时延的欠驱动AUV编队跟踪控制[J]. 兵工学报, 2024, 45(1): 184-196.

DING Wengjun, ZHANG Guozong, LIU Haimin, CHAI Yajun, WANG Chiyu, MAO Zhaoyong. Tracking Control of Underactuated Autonomous Underwater Vehicle Formation under Current Disturbance and Communication Delay[J]. Acta Armamentarii, 2024, 45(1): 184-196.

图/表 24

图1 AUV编队探测过程

Fig.1 Detection process of AUV formation

图2 AUV运动坐标系

Fig.2 AUV motion coordinate system

图3 领航-跟随者编队结构

Fig.3 Navigator-follower formation structure

图4 AUV编队控制框图

Fig.4 Block diagram of AUV formation control

图5 AUV三维螺旋曲线跟踪

Fig.5 AUV 3D spiral curve tracking

图6 AUV与理想轨迹的距离误差

Fig.6 Distance error between AUV and ideal trajectory

图7 无时延AUV编队轨迹跟踪

Fig.7 Delay free AUV formation trajectory tracking

图8 领航者与理想轨迹的位置误差

Fig.8 Position error between navigator and ideal trajectory

图9 跟随者1与虚拟轨迹的位置误差

Fig.9 Position error between Follower 1 and virtual trajectory

图10 跟随者2与虚拟轨迹的位置误差

Fig.10 Position error between Follower 2 and virtual trajectory

图11 跟随者1与领航者的距离

Fig.11 Distance between Follower 1 and navigator

图12 跟随者2与领航者的距离

Fig.12 Distance between Follower 2 and navigator

图13 有时延AUV编队轨迹跟踪

Fig.13 AUV formation trajectory tracking with delay

图14 领航者与理想轨迹的位置误差

Fig.14 Position error between navigator and ideal trajectory

图15 跟随者1与虚拟轨迹的位置误差

Fig.15 Position error between Follower 1 and virtual trajectory

图16 跟随者2与虚拟轨迹的位置误差

Fig.16 Position error between Follower 2 and virtual trajectory

图17 跟随者1与领航者的距离

Fig.17 Distance between Follower 1 and navigator

图18 跟随者2与领航者的距离

Fig.18 Distance between Follower 2 and navigator

图19 时延补偿AUV编队轨迹跟踪

Fig.19 Delay compensation AUV formation trajectory tracking

图20 领航者与理想轨迹的位置误差

Fig.20 Position error between navigator and ideal trajectory

图21 跟随者1与虚拟轨迹的位置误差

Fig.21 Position error between Follower 1 and virtual trajectory

图22 跟随者2与虚拟轨迹的位置误差

Fig.22 Position error between Follower 2 and virtual trajectory

图23 跟随者1与领航者的距离

Fig.23 Distance between Follower 1 and navigator

图24 跟随者2与领航者的距离

Fig.24 Distance between Follower 2 and navigator

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