分布式多智能体协调控制研究

2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2018-05-01 DOI:10.1109/YAC.2018.8406394

Mo Tao, Xianling Li, Xiawei Guan, Zhi Liu, Yi Feng, Ruotong Qu

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引用次数: 1

摘要

多艘无人潜航器(UUV)导航的协调控制是海洋工程领域的一个研究热点。本文提出了一种结合路径参考点思想和leader-follower群体控制算法的UUV群体控制方法。采用反阶跃法和李雅普诺夫函数设计了编队控制器。仿真结果表明，该控制器在电流干扰下具有较强的鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The research of coordination control on distributed multi-agent

Coordination control of multi UUV (unmanned underwater vehicle) navigation is a research focus in the field of Marine engineering. In this paper, the UUV formation control method combining the idea of path reference point and leader-follower formation control algorithm is proposed. The formation controller is designed by using the anti-step method and Lyapunov function. The simulation result shows that both the leader and follower UUV can track the expectation path, and the designed controller has robustness under current interference.

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2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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