欠驱动多AUV双环指定时间三维编队控制

doi:10.12382/bgxb.2025.0046

摘要/Abstract

摘要：

多自主水下航行器(Autonomous Underwater Vehicles,AUV)协同作业在水下作战领域展现出广阔的应用前景。针对具有模型不确定性和未知环境扰动的欠驱动多AUV三维编队控制问题,提出一种双环指定时间编队控制方法。为解决AUV欠驱动问题,建立AUV运动数学模型并引入欠驱动坐标变换。为降低模型不确定性和未知环境扰动对系统的不利影响,设计固定时间扩张状态观测器对其进行估计与补偿。为实现多AUV编队的指定时间收敛,设计由外环控制律与内环控制律组成的双环指定时间控制器。其中,外环控制律调节AUV的期望速度以实现编队目标,而内环控制律则负责跟踪AUV的期望速度。理论分析表明,新方法能够确保系统在指定时间内收敛;仿真结果显示,与有限时间和固定时间控制相比,新方法能够实现系统的指定时间收敛,进一步提高系统的收敛速度,为协同性要求较高任务下的多AUV编队控制提供新思路。

关键词: 自主水下航行器, 编队控制, 指定时间控制, 双环控制, 扩张状态观测器

Abstract:

The cooperative operation of multiple autonomous underwater vehicles (AUVs) shows broad application prospects in underwater combat scenarios.A dual-loop prescribed-time formation control method is proposed for the control of underactuated multi-AUV three-dimensional formation under model uncertainties and unknown environmental disturbances.A mathematical model of AUV motion is established and an underactuated coordinate transformation is introduced to solve the underactuation problem of AUV.To mitigate the adverse effects of model uncertainty and unknown environmental disturbances on the system,a fixed-time extended state observer is designed to estimate and compensate for model uncertainty and unknown environmental disturbances.In order to achieve the prescribed-time convergence in multi-AUV formation,a dual-loop prescribed-time controller,consisting of an outer-loop control law and an inner-loop control law,is designed.The outer-loop control law is used to adjust the desired velocity of AUV to achieve the formation objective,while the inner-loop control law is responsible for tracking the desired velocity.Theoretical analysis demonstrates that the proposed method enable the system to converge within a prescribed time.+++Simulated results show that,compared to the finite-time and fixed-time control methods,the proposed method can achieve prescribed-time convergence and further enhances the system's convergence speed,providing a new approach for multi-AUV formation control in tasks with high coordination requirements.

Key words: autonomous underwater vehicle, formation control, prescribed-time control, dual-loop control, extended state observer

中图分类号:

TP273

王则青, 徐海祥, 余文曌, 杜哲, 王红梅. 欠驱动多AUV双环指定时间三维编队控制[J]. 兵工学报, 2025, 46(8): 250046-.

WANG Zeqing, XU Haixiang, YU Wenzhao, DU Zhe, WANG Hongmei. Dual-Loop Prescribed-Time 3D Formation Control of Underactuated Multi-AUVs[J]. Acta Armamentarii, 2025, 46(8): 250046-.

图/表 13

图1 固地坐标系与随体坐标系

Fig.1 Earth-fixed coordinate system and body- fixed coordinate system

图2 AUV双环指定时间编队控制原理图

Fig.2 Schematic diagram of AUV dual-loop prescribed time formation control

图3 多AUV三维编队控制系统

Fig.3 Multi-AUV 3D formation control system

图4 AUV编队通讯拓扑

Fig.4 Communication topology of AUV formation

表1 各AUV的初始状态与期望队形

Table 1 Initial states and desired formation of AUV

参数	数值	参数	数值
η₁(0)	[-6m,-20m,3m,0°,0°]^T	$δ ¯ 1$	[0m,-20m,0m]^T
η₂(0)	[-4m,-8m,-2m,0°,0°]^T	$δ ¯ 2$	[0m,-10m,0m]^T
η₃(0)	[-6m,0m,3m,0°,0°]^T	$δ ¯ 3$	[0m,0m,0m]^T
η₄(0)	[-4m,7m,-1m,0°,0°]^T	$δ ¯ 4$	[0m,10m,0m]^T
η₅(0)	[-5m,19m,-2m,0°,0°]^T	$δ ¯ 5$	[0m,20m,0m]^T
υ_i(0)	[0m/s,0m/s,0m/s, 0°/s,0°/s]^T	$η ¯ 0$	[0.4tm,0.1tm, 2sin(0.1t) m]^T

表1 各AUV的初始状态与期望队形

Table 1 Initial states and desired formation of AUV

参数	数值	参数	数值
η₁(0)	[-6m,-20m,3m,0°,0°]^T	$δ ¯ 1$	[0m,-20m,0m]^T
η₂(0)	[-4m,-8m,-2m,0°,0°]^T	$δ ¯ 2$	[0m,-10m,0m]^T
η₃(0)	[-6m,0m,3m,0°,0°]^T	$δ ¯ 3$	[0m,0m,0m]^T
η₄(0)	[-4m,7m,-1m,0°,0°]^T	$δ ¯ 4$	[0m,10m,0m]^T
η₅(0)	[-5m,19m,-2m,0°,0°]^T	$δ ¯ 5$	[0m,20m,0m]^T
υ_i(0)	[0m/s,0m/s,0m/s, 0°/s,0°/s]^T	$η ¯ 0$	[0.4tm,0.1tm, 2sin(0.1t) m]^T

表2 控制器参数

Table 2 Controller parameters

控制环节	参数	数值	参数	数值
外环控制律	K_η	diag{0.4,0.4,0.4}	T_η	20
内环控制律	K_υ	diag{5,5,5}	T_υ	20
固定时间 ESO	F₁	diag{5,5,5}	H₁	diag{6,6,6}
	F₂	diag{6,6,6}	H₂	diag{10,10,10}
	F₃	diag{12,12,12}	H₃	diag{12,12,12}
	f	0.9	h	1.11

图5 多AUV编队运动轨迹

Fig.5 Motion trajectories of multi-AUV formation

图6 外环控制跟踪误差

Fig.6 Outer-loop control tracking errors

图7 内环控制跟踪误差

Fig.7 Inner-loop control tracking errors

图8 集总扰动观测误差

Fig.8 Lumped disturbance estimation errors

图9 控制力

Fig.9 Control forces

表3 各AUV积分绝对编队误差

Table 3 Integral absolute formation error of each AUV

控制方法	P₁	P₂	P₃	P₄	P₅
指定时间控制	8.63	10.66	8.16	9.77	5.74
固定时间控制	16.57	17.54	16.49	15.99	8.42
有限时间控制	25.28	27.42	26.60	24.50	11.78

图10 多AUV编队总误差

Fig.10 Total formation error of multi-AUV

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