自主水下航行器编队空间同步平行编队

2010 International Conference on Intelligent Control and Information Processing Pub Date : 2010-09-09 DOI:10.1109/ICICIP.2010.5564217

Jiu-cai Jin, Jie Zhang, Sheng Guan, Yanfeng Wang

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引用次数: 1

摘要

提出了一种粒子舰队协同控制方法，并将其应用于自主水下航行器(auv)舰队的空间同步平行编队。基于耦合相振子理论，建立了变速粒子模型。设计了速度匹配和虚拟leader控制律，证明了该控制律能保证auv舰队沿虚拟leader方向同步平行运行。分析了算法的收敛性。给出了空间同步平行地层的数值模拟结果。

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Spatial Synchronized Parallel Formation for Autonomous Underwater Vehicles Fleet

A cooperative control method of particles fleet was developed and used for autonomous underwater vehicles (AUVs) fleet's synchronized parallel formation in space. Based coupled phase oscillators' theory, particles model for variable speed was constructed. The velocity matching and virtual leader control law was designed, which was proved to guarantee the AUVs fleet synchronized parallel running along with the orientation of virtual leader. The convergence was analyzed. The numerical simulation results for spatial synchronized parallel formations were presented.

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来源期刊

2010 International Conference on Intelligent Control and Information Processing

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