CN108303891A - More AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current - Google Patents
More AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current Download PDFInfo
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Abstract
More AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current, including：Kinetic model under establishing AUV kinematics models and being disturbed with uncertain ocean current, initialization system mode, sampling time and control parameter；Design path following control devices of the leader AUV based on Serret Frenet methods；The kinematic controller for proposing the formation of follower's AUV distributions, makes it be more suitable for underwater communication environment；The kinematic controller designed for leader and follower has carried out input-to-state stability analysis, and much AUV systems form distributed movement formation control；Propose more AUV system dynamics controllers containing uncertain ocean current disturbance compensation item.The present invention provides a kind of collaboration tracking and controlling method that can effectively reduce controller information amount based on more AUV distributions formation control platforms, simultaneously using neural network method avoid uncertain ocean current disturbed belt come influence, for early warning of marine disasters forecast, marine environment guarantee establish key foundation.
Description
Technical field
The present invention relates under more AUV distributions formation control fields more particularly to a kind of disturbance based on uncertain ocean current
More AUV distributed collaborations control methods.
Background technology
As our times population increase, environmental degradation, land resources are increasingly exhausted, the mankind are becoming increasingly recognized that exploitation profit
It is the material base and environmental condition of human society existence and sustainable development with abundant marine resources.B.s.l. pressure is huge
Greatly, operating environment is severe, people need by Autonomous Underwater Vehicle (Autonomous Underwater Vehicle,
AUV it) marine exploration, exploitation is carried out and completes all kinds of underwater operations.The main feature of AUV is exactly that they can be in complexity
In marine environment, the completion navigation autonomous without human intervention, avoidance find target and a series of tasks such as fulfil assignment.
Therefore, not only have important economic implications to the research of AUV, military field also have there is an urgent need to.
Currently, many universities and research institution of each ocean big country have all put into a large amount of man power and material, for studying
With exploitation Autonomous Underwater Vehicle.With the continuous improvement of ocean operation complexity, since single AUV is in working range, work
Make the limitation of time, measurement capability etc., more AUV work compounds have better application prospect.Different from land and sky
In aircraft form into columns, more AUV need to overcome the problems, such as in formation control it is a series of, if Underwater Navigation is inaccurate, measure and
Communication distance is limited, AUV kinetic model complexity etc..These problems not only affect the performance of formation control, have an effect on simultaneously
The stability of system, therefore, it is necessary to design the more AUV formation controls devices for being directed to underwater communication environment.In addition to this, more AUV
During under water, necessarily encounter with uncertain factor ocean current disturbance, existing for ocean current interference and carry out curved path
Path following control performance can be seriously affected when tracking.Nowadays, more AUV Collaborative Controls also have prodigious research space to wait for
The exploration of scientific research personnel, wherein path trace and formation control are current one of research hotspots, and to embody AUV intelligent
One of the important signs that.
Based on this understanding, the present invention establish it is a kind of based on uncertain ocean current disturb under more AUV distributed collaborations with
Track control method.This method considers the kinematics model and kinetic model of AUV simultaneously, and considers uncertain ocean current under water
Entire more AUV system platforms are divided into two parts by the influence of disturbance using leader-follower's control strategy：Leader is
Know moving line parameter, high-precision path following control is realized based on Serent-Frenet coordinate systems；Follower utilizes and neighbour
The metrical information in residence forms the movement with certain formation with communication information (i.e. relative information) and forms into columns, to improve more AUV
Distributed collaboration ability of tracking.
Invention content
It in order to overcome the Underwater Navigation of existing more AUV systems inaccurate, measures and the deficiencies of communication distance is limited, this hair
More AUV distributed collaborations tracking and controlling methods under a kind of disturbance based on uncertain ocean current of bright offer, are mainly utilized between AUV
Relative position information and simplify the information content needed for controller, realize more AUV point in the case of being disturbed there are ocean current
Cloth cooperates with tracing control, ensure that the stability of system, and new side is provided for early warning of marine disasters forecast, marine environment guarantee etc.
Method.
In order to solve the above-mentioned technical problem the technical solution proposed is as follows：
More AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current, are included the following steps：Based on not
Determine more AUV distributed collaborations tracking and controlling methods under ocean current disturbance, which is characterized in that include the following steps：
Step 1, the kinetic model under establishing AUV kinematics models and being disturbed with uncertain ocean current, initialization system
System state, sampling time and control parameter；
The kinematics model expression-form of 1.1AUV is
Wherein, ι is imaginary unit；Subscript i represents i-th AUV, i=1,2 ..., n, and n is the number of AUV；zi=xi+ι
yiCoordinate (the x for being i-th of AUV under inertial coodinate systemiFor abscissa, yiFor ordinate)；It is i-th of AUV in inertial coordinate
The lower course angle of system, and when meeting time t and being intended to infinity,I=1,2, φ be constant；vi=[ui,ri]TIt is
The control of kinematics system inputs, ui,riRespectively represent the forward speed and angular velocity in yaw of i-th of AUV；Entirely it is being moved through
Cheng Zhong defines i=1, and 2 be leader AUV, independently of each other；Remaining i=3 ..., n is follower AUV；
1.2 are with the kinetic model expression-forms for not knowing the AUV under ocean current disturbance
Wherein,For the generalized mass for including additional mass of i-th of AUV
Matrix；For i-th of AUV damping matrix；vri=[uri rri]TFor i-th of AUV
Actual forward speed and angular velocity in yaw composition rate matrices；τi=[Fi Γi]TIt is defeated for the control of dynamic system
Enter；τwi=[τwui τwri]TFor time-varying ocean current perturbation vector unknown in dynamic system；M and IzRespectively the quality of AUV and
Inertial matrix；WithRespectively AUV translation additional mass and rotation additional mass；XuuAnd NrThe sticky water of respectively AUV translations
The coefficient of impact and rotation viscous hydrodynamic forces coefficient；FiAnd ΓiThe forward direction thrust of respectively i-th AUV and turn bow torque；τwuiWith
τwriThe ocean current disturbance of the translational direction of respectively i-th AUV and the ocean current of rotation direction disturb；
Step 2, path following control devices of the leader AUV based on Serret-Frenet methods is designed；
2.1 since 2 leaders are mutual indepedent, and path following control device mentality of designing is consistent, for simplification, below with list
For a leader's controller design.Define the tracking error of single leader AUVFor
Wherein,It is broad sense position vector of the leader under inertial coodinate system；It is given path
The broad sense position vector of upper virtual point κ；For from inertial coodinate system to using point κ as origin
The spin matrix of Serret-Frenet coordinate systems；
2.2 pairs of formula (3) derivations can obtain
Wherein, Cc(s) it is curvature of the given motion path in point κ；S is given motion path parametric variable；U and r is neck
The forward speed and angular velocity in yaw of the person of leading AUV；
2.3, which define approach angle, is
Wherein, kδ>0 is constant；For constant；yeMeet yesinδ(ye)<0；
The input [u r] of 2.4 path trace device controllersTWith the change rate of path parameter variableFor：
Wherein, ν0, k1, k2All it is constant, and k1>0 and k2>0；
Step 3, consider that subaqueous survey communicates the problems such as limited and GPS positioning is inaccurate, it is proposed that follower's AUV distributions
The kinematic controller that formula is formed into columns, is mainly utilized the relative position information between AUV and simplifies controller aequum, make it
It is more suitable for underwater communication environment；
3.1 define plural number Laplacian Matrix L and real number Laplacian Matrix H specific element be respectively
Wherein, wpqIt is given constant to measure the complex-valued weights schemed in G on directed edge (q, p)；μpqTo have in Communication Graph H
Positive real number weights on side (q, p) are given constants；Ni(G) and Ni(H) it is respectively i-th of AUV in measurement figure G and Communication Graph
Enter neighborhood in H；
3.2 the 1st AUV and the 2nd AUV are set as leader, due to mutual indepedent between leader AUV, plural La Pula
This matrix L and real number Laplacian Matrix H expression-forms are respectively
Wherein, det (Lff)≠0；det(Hff)≠0；Follower AUV is collecting leader in measuring figure G and Communication Graph H
Conjunction is reachable；
The kinematic controller of 3.3 design follower AUV, which inputs, is
Wherein, ηiIt is an auxiliary variable, for indicating estimations of i-th of AUV to leader's speed；Define η1=η2=
ν0, thendi>0, it is constant；
Step 4, it is proposed that more AUV system dynamics controllers containing uncertain ocean current disturbance compensation item；
4.1 define the tracking error of Dynamics Controller
The first differential of formula (11) is
4.2 define d1=d2=0, then as i=1 ..., n, the forward speed of AUV can be rewritten as
The first differential of formula (13) is
The differential of the angular velocity in yaw of 4.3AUV can be expressed as
For leader：
For follower：
Wherein,It is curvature to the local derviation of path parameter；
4.4 do not know ocean current disturbance term τ to approach present in kinetic modelwi, define following neural network
Wherein,For neural network ideal weight, For neural network perfect error value, andBounded, εNiIt is constant for the upper bound of neural network perfect error value；Expression formula be
Wherein, a1, a2, a3, a4For constant；
The Dynamics Controller of the 4.5 more AUV of design, expression formula are
Wherein, Ki>0 is constant,For neural network ideal weightEstimated value,For neural network perfect error
It is worth upper bound εNiEstimated value, kε>0 is constant；Wherein,WithAdaptive law be
Wherein,It is adaptive matrix, kw,vε>0 is all constant；
Step 5, the Dynamics Controller designed using step 4 carries out collaboration tracing control to AUV.
The present invention is based on leader-follower's technologies, it is contemplated that the influence of ocean current disturbance, design are not known in marine environment
Path following control device and distributed formation control device, realize the Collaborative Control based on more AUV platforms, reduce controller institute
Information content is needed, it is made to be more suitable for underwater communication environment.
The present invention technical concept be：Using leader-follower's control strategy, more AUV system platforms are divided into two
Part：Route parameter is given known to leader, designs the path following control device based on Serent-Frenet methods；For water
The problem of lower environment AUV self poisonings inaccuracy, follower, which utilizes, and the metrical information of neighbours is formed with communication information has one
The movement for determining formation is formed into columns, and simplifies the information content needed for controller.Speed in order to ensure more AUV systems is consistent with direction
Property, desin speed estimator and direction controller；Finally, more AUV kinematic controllers are extended to disturbed with ocean current it is more
AUV kinetic models realize the formation tracing control of system.The present invention provides a kind of flat based on more AUV distributions formation controls
The collaboration tracking and controlling method that can effectively reduce controller information amount of platform, while being avoided not really using neural network method
The influence that Dinghai flow disturbance is brought establishes key foundation for early warning of marine disasters forecast, marine environment guarantee.
Advantages of the present invention is：It is inaccurate for the self poisoning of more AUV mobile platforms, measured between AUV with communication away from
The problems such as from limited and uncertain ocean current disturbing influence, is designed and simplifies the information needed for kinematics and dynamics controller
Amount realizes the collaboration path trace based on more AUV platforms using relative information, ensure that the stability of system.
Description of the drawings
Fig. 1 is the topological structure schematic diagram of the measurement figure G and Communication Graph H of the present invention；
Fig. 2 is the schematic diagram of 1 tracking effect of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the embodiment of the present invention 1 site error and angle change；
Fig. 4 is the schematic diagram of 2 tracking effect of the embodiment of the present invention；
Fig. 5 is the schematic diagram of the embodiment of the present invention 2 site error and angle change.
Fig. 6 is flow chart of the present invention.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
- Fig. 5 referring to Fig.1, more AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current, including with
Lower step：
Step 1, the kinetic model under establishing AUV kinematics models and being disturbed with uncertain ocean current, initialization system
System state, sampling time and control parameter；
The kinematics model expression-form of 1.1AUV is
Wherein, ι is imaginary unit；Subscript i represents i-th AUV, i=1,2 ..., n, and n is the number of AUV；zi=xi+ι
yiCoordinate (the x for being i-th of AUV under inertial coodinate systemiFor abscissa, yiFor ordinate)；It is i-th of AUV in inertial coordinate
The lower course angle of system, and when meeting time t and being intended to infinity,I=1,2, φ be constant；vi=[ui,ri]TIt is
The control of kinematics system inputs, ui,riRespectively represent the forward speed and angular velocity in yaw of i-th of AUV；Entirely it is being moved through
Cheng Zhong defines i=1, and 2 be leader AUV, independently of each other；Remaining i=3 ..., n is follower AUV；
1.2 are with the kinetic model expression-forms for not knowing the AUV under ocean current disturbance
Wherein,For the generalized mass for including additional mass of i-th of AUV
Matrix；For i-th of AUV damping matrix；vri=[uri rri]TFor i-th of AUV
Actual forward speed and angular velocity in yaw composition rate matrices；τi=[Fi Γi]TIt is defeated for the control of dynamic system
Enter；τwi=[τwui τwri]TFor time-varying ocean current perturbation vector unknown in dynamic system；M and IzRespectively the quality of AUV and
Inertial matrix；WithRespectively AUV translation additional mass and rotation additional mass；XuuAnd NrThe sticky water of respectively AUV translations
The coefficient of impact and rotation viscous hydrodynamic forces coefficient；FiAnd ΓiThe forward direction thrust of respectively i-th AUV and turn bow torque；τwuiWith
τwriThe ocean current disturbance of the translational direction of respectively i-th AUV and the ocean current of rotation direction disturb；
Step 2, path following control devices of the leader AUV based on Serret-Frenet methods is designed；
2.1 since 2 leaders are mutual indepedent, and path following control device mentality of designing is consistent, for simplification, below with list
For a leader's controller design.Define the tracking error of single leader AUVFor
Wherein,It is broad sense position vector of the leader under inertial coodinate system；It is given path
The broad sense position vector of upper virtual point κ；For from inertial coodinate system to using point κ as origin
The spin matrix of Serret-Frenet coordinate systems；
2.2 pairs of formula (3) derivations can obtain
Wherein, Cc(s) it is curvature of the given motion path in point κ；S is given motion path parametric variable；U and r is neck
The forward speed and angular velocity in yaw of the person of leading AUV；
2.3, which define approach angle, is
Wherein, kδ>0 is constant；For constant；yeMeet yesinδ(ye)<0；
The input [u r] of 2.4 path trace device controllersTWith the change rate of path parameter variableFor：
Wherein, ν0, k1, k2All it is constant, and k1>0 and k2>0；
In the present embodiment, stability verification has been carried out to above controller using Liapunov principle, it is specific as follows：
Define liapunov function：
Formula (6) derivation can be obtained
Bringing formula (5) into formula (7) can obtainIt is possible thereby to determine that leader's system controller that the present invention obtains is steady
Fixed；
Step 3, consider that subaqueous survey communicates the problems such as limited and GPS positioning is inaccurate, it is proposed that follower's AUV distributions
The kinematic controller that formula is formed into columns, is mainly utilized the relative position information between AUV and simplifies controller aequum, make it
It is more suitable for underwater communication environment；
3.1 define plural number Laplacian Matrix L and real number Laplacian Matrix H specific element be respectively
Wherein, wpqIt is given constant to measure the complex-valued weights schemed in G on directed edge (q, p)；μpqTo have in Communication Graph H
Positive real number weights on side (q, p) are given constants；Ni(G) and Ni(H) it is respectively i-th of AUV in measurement figure G and Communication Graph
Enter neighborhood in H；
3.2 the 1st AUV and the 2nd AUV are set as leader, due to mutual indepedent between leader AUV, plural La Pula
This matrix L and real number Laplacian Matrix H expression-forms are respectively
Wherein, det (Lff)≠0；det(Hff)≠0；Follower AUV is collecting leader in measuring figure G and Communication Graph H
Conjunction is reachable；
The kinematic controller of 3.3 design follower AUV, which inputs, is
Wherein, ηiIt is an auxiliary variable, for indicating estimations of i-th of AUV to leader's speed；Define η1=η2=
ν0, thendi>0, it is constant；
Step 4, step 2 and 3 input for the kinematic controller that leader and follower design-state is steady
Qualitative analysis, it is specific as follows；
The controller expression-form of 4.1 two leader AUV is
Wherein, i=1,2；It is defined according to formula (5),
4.2 is convenient to write, and defines following variable
4.3 leader's AUV state-space expressions are
Wherein, 1nFor 1 n dimensional vectors；gl(ρe)=[g1(ρe1),g2(ρe2)]T；
4.4 follower's AUV state-space expressions are
Wherein,Df=diag { d3,...,dn}；
The steady state solution of the systems of AUV more than 4.5 meets
Wherein, ξ=[ξ1,ξ2,...,ξn]TFor formation base vector；R=[Rl,Rf]；c1And c2By leader's AUV initial positionsThe constant of decision, expression formula are
It follows that the kinematic controller of leader and follower's design forms distributed movement formation control；
Step 5, it is proposed that more AUV system dynamics controllers containing uncertain ocean current disturbance compensation item；
5.1 define the tracking error of Dynamics Controller
The first differential of formula (19) is
5.2 define d1=d2=0, then as i=1 ..., n, the forward speed of AUV can be rewritten as
The first differential of formula (21) is
The differential of the angular velocity in yaw of 5.3AUV can be expressed as
For leader：
For follower：
Wherein,It is curvature to the local derviation of path parameter；
5.4 do not know ocean current disturbance term τ to approach present in kinetic modelwi, define following neural network
Wherein,For neural network ideal weight, For neural network perfect error value, andBounded, εNiIt is constant for the upper bound of neural network perfect error value；Expression formula be
Wherein, a1, a2, a3, a4For constant；
The Dynamics Controller of the 5.5 more AUV of design, expression formula are
Wherein, Ki>0 is constant,For neural network ideal weightEstimated value,For neural network perfect error
It is worth upper bound εNiEstimated value, kε>0 is constant；Wherein,WithAdaptive law be
Wherein,It is adaptive matrix, kw,vε>0 is all constant；
The controller that step 5 is obtained below is applied to the more AUV collaboration formation controls and mixed starters circuit of straight line path
More AUV collaboration formation controls (by taking 5 AUV as an example) of diameter, to verify effectiveness of the invention.
In order to more effectively illustrate the validity of the method for the present invention, all parameter settings are all consistent.System is joined
Number and controller parameter initialize respectively as shown in table 1, table 2, and formation base vector is ξ=[ι-ι 0-1-2]T, measure figure G
Topological structure with Communication Graph H is as shown in Figure 1, its Laplacian Matrix expression-form is as follows
1 systematic parameter of table and parameter initialization
Embodiment 1：More AUV based on straight line path cooperate with formation control
Fig. 2 show line tracking schematic diagram, and open circles indicate that the initial position of more AUV, filled circles indicate the weight of more AUV
Point position, black, which is realized, indicates given path, and black dotted lines are the movement locus of AUV.As seen from Figure 2, more AUV are from arbitrary
Initial position can form good movement formation and path trace effect.From figure 3, it can be seen that more AUV are in motion process
In, even if there are uncertain ocean current interference, the relative error between more AUV, which is gradually reduced, is intended to 0, and has consistent fortune
Dynamic direction.Therefore, the present invention provides a kind of can effectively reduce controller information based on more AUV distributions formation control platforms
The collaboration tracking and controlling method of amount, at the same using neural network method avoid uncertain ocean current disturbed belt come influence, for sea
Key foundation is established in foreign disaster prewarning and forecasting, marine environment guarantee.
2 controller parameter of table initializes
Embodiment 2：More AUV based on Mixing Curve path cooperate with formation control
In order to verify effectiveness of the invention, under the premise of not changing control parameter, given path curve is set as mixed
Close curve, the i.e. mixing of sine curve and straight line.From fig. 4, it can be seen that the present invention can quickly and effectively realize given path
Cooperate with tracing control.More AUV are can be seen that when tracking sine curve from the partial enlarged view and Fig. 5 of Fig. 4, have been able to reality
The consistent formation movement in existing direction, position.Therefore, the present invention is inaccurate for the underwater self poisoning of more AUV mobile platforms,
It is measured between AUV and the problems such as communication distance is limited and uncertain ocean current disturbing influence, it is proposed that one kind is based on uncertain sea
More AUV distributed collaborations tracking and controlling methods under flow disturbance.
Described above is excellent more AUV collaborations tracking effects that two examples of simulation that the present invention provides are shown, and is shown
So the present invention is not only limited to above-described embodiment, without departing from essence spirit of the present invention and without departing from involved by substantive content of the present invention
And various deformations can be made under the premise of range to it and be implemented.
Claims (5)
1. more AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current, which is characterized in that including following step
Suddenly：
Step 1, the kinetic model under establishing AUV kinematics models and being disturbed with uncertain ocean current, initializes system shape
State, sampling time and control parameter；
The kinematics model expression-form of 1.1 AUV is：
Wherein, ι is imaginary unit；Subscript i represents i-th AUV, i=1,2 ..., n, and n is the number of AUV；zi=xi+ιyiFor
Coordinates of i-th of AUV under inertial coodinate system；For i-th of AUV under inertial coodinate system course angle, and meet the time t trend
When infinity,I=1,2, φ be constant；vi=[ui,ri]TIt is the control input of kinematics system, ui,ri
Respectively represent the forward speed and angular velocity in yaw of i-th of AUV；In entire motion process, i=1,2 be leader AUV, phase
It is mutually independent；Remaining i=3 ..., n is follower AUV.
1.2 are with the kinetic model expression-forms for not knowing the AUV under ocean current disturbance
Wherein,For the general mass matrix for including additional mass of i-th of AUV；For i-th of AUV damping matrix；vri=[uri rri]TFor the reality of i-th of AUV
The rate matrices of the forward speed on border and angular velocity in yaw composition；τi=[Fi Γi]TIt is inputted for the control of dynamic system；τwi
=[τwui τwri]TFor time-varying ocean current perturbation vector unknown in dynamic system；M and IzThe respectively quality of AUV and the moment of inertia
Battle array；WithRespectively AUV translation additional mass and rotation additional mass；XuuAnd NrRespectively AUV translation viscous hydrodynamic forces system
Number and rotation viscous hydrodynamic forces coefficient；FiAnd ΓiThe forward direction thrust of respectively i-th AUV and turn bow torque；τwuiAnd τwriRespectively
It is disturbed for the ocean current disturbance and the ocean current of rotation direction of the translational direction of i-th of AUV.
Step 2, path following control devices of the leader AUV based on Serret-Frenet methods is designed；
2.1 since 2 leaders are mutual indepedent, and path following control device mentality of designing is consistent, for simplification, below individually to lead
For the person's of leading controller design.The tracking error of single leader AUVFor
Wherein,It is broad sense position vector of the leader under inertial coodinate system；It is empty on given path
The broad sense position vector of quasi- point κ；For from inertial coodinate system to using point κ as the Serret- of origin
The spin matrix of Frenet coordinate systems；
2.2 pairs of formula (3) derivations can obtain
Wherein, Cc(s) it is curvature of the given motion path in point κ；S is given motion path parametric variable；U and r is leader
The forward speed and angular velocity in yaw of AUV；
2.3, which define approach angle, is
Wherein, kδ>0 is constant；For constant；yeMeet yesinδ(ye)<0；
The input [u r] of 2.4 path trace device controllersTWith the change rate of path parameter variableFor：
Wherein, ν0, k1, k2All it is constant, and k1>0 and k2>0；
Step 3, it is proposed that the relative position between AUV is mainly utilized in the kinematic controller that follower's AUV distributions are formed into columns
Information simultaneously simplifies controller aequum, it is made to be more suitable for underwater communication environment；
3.1 define plural number Laplacian Matrix L and real number Laplacian Matrix H specific element be respectively
Wherein, wpqIt is constant to measure the complex-valued weights schemed in G on directed edge (q, p)；μpqFor directed edge (q, p) in Communication Graph H
On positive real number weights, be constant；Ni(G) and Ni(H) it is respectively that i-th of AUV enters neighbours' collection in measurement figure G and Communication Graph H
It closes；
3.2 the 1st AUV and the 2nd AUV are set as leader, due to mutual indepedent between leader AUV, plural Laplce's square
Battle array L and real number Laplacian Matrix H expression-forms are respectively
Wherein, det (Lff)≠0；det(Hff)≠0；
The kinematic controller of 3.3 design follower AUV, which inputs, is
Wherein, ηiIt is an auxiliary variable, for indicating estimations of i-th of AUV to leader's speed；Define η1=η2=ν0, thendi>0, it is constant；
Step 4, it is proposed that more AUV system dynamics controllers containing uncertain ocean current disturbance compensation item；
4.1 define the tracking error of Dynamics Controller
The first differential of formula (11) is
4.2 define d1=d2=0, then as i=1 ..., n, the forward speed of AUV can be rewritten as
The first differential of formula (13) is
The differential of the angular velocity in yaw of 4.3 AUV can be expressed as
For leader：
For follower：
4.4 define following neural network:
Wherein, Wi *For neural network ideal weight, For neural network perfect error value, andHave
Boundary, εNiIt is constant for the upper bound of neural network perfect error value；Expression formula be
Wherein, a1, a2, a3, a4For constant；
The Dynamics Controller of the 4.5 more AUV of design, expression formula are
Wherein, Ki>0 is constant,For neural network ideal weight Wi *Estimated value,For the neural network perfect error value upper bound
εNiEstimated value, kε>0 is constant；Wherein,WithAdaptive law be：
Wherein,It is adaptive matrix, kw,vε>0 is all constant；
Step 5, the Dynamics Controller designed using step 4 carries out collaboration tracing control to AUV.
2. according to the method described in claim 1, it is characterized in that, neural network defined in the step 4.4, dynamic for approaching
Ocean current disturbance term τ is not known present in mechanical modelwi。
3. according to the method described in claim 1, it is characterized in that, what follower's AUV distributions that the step 3 proposes were formed into columns
Kinematic controller communicates the problems such as limited and GPS positioning is inaccurate for subaqueous survey and proposes.
4. according to the method described in claim 1, it is characterized in that, in the step 4.3,It is curvature to path parameter
Local derviation.
5. according to the method described in claim 1, it is characterized in that, in step 1.1, for i-th of AUV under inertial coodinate system
Coordinate zi=xi+ιyi, xiFor abscissa, yiFor ordinate.
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