CN108303891B - Based on more AUV distributed collaboration tracking and controlling methods under the disturbance of uncertain ocean current - Google Patents
Based on more AUV distributed collaboration tracking and controlling methods under the disturbance of uncertain ocean current Download PDFInfo
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Abstract
Based on more AUV distributed collaboration tracking and controlling methods under the disturbance of uncertain ocean current, comprising: establish AUV kinematics model and with the kinetic model under the disturbance of uncertain ocean current, initialization system mode, sampling time and control parameter；Design path following control device of the leader AUV based on Serret-Frenet method；The kinematic controller of follower's AUV distribution formation is proposed, it is made to 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 system forms 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 distribution formation control platforms, avoiding uncertain ocean current disturbance bring using neural network method simultaneously influences, and establishes key foundation for early warning of marine disasters forecast, marine environment guarantee.
Description
Technical field
The present invention relates under more AUV distribution formation control fields more particularly to a kind of disturbance based on uncertain ocean current
More AUV distributed collaboration control methods.
Background technique
As our times population increase, environmental degradation, land resources are increasingly exhausted, the mankind are becoming increasingly recognized that exploitation benefit
It is the material base and environmental condition of human society existence and sustainable development with marine resources abundant.B.s.l. pressure is huge
Greatly, operating environment is severe, people need by Autonomous Underwater Vehicle (Autonomous Underwater Vehicle,
AUV) Lai Jinhang hydrospace detection, exploitation and all kinds of underwater operations of completion.The main feature of AUV is exactly that they can be in complexity
In marine environment, the completion navigation autonomous without human intervention, avoidance, discovery target and a series of tasks such as fulfil assignment.
Therefore, not only have important economic significance 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, measurement 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 control devices for being directed to underwater communication environment.In addition to this, more AUV
During under water, the ocean current disturbance with uncertain factor is necessarily encountered, existing for the ocean current interference and carries out curved path
Path following control performance can be seriously affected when tracking.Nowadays, more AUV Collaborative Controls are waited for there are also very big research space
The exploration of scientific research personnel, wherein path trace and formation control are current one of research hotspots, and embody AUV intelligence
One of the important signs that.
Based on this understanding, the present invention establish it is a kind of based on uncertain ocean current disturbance 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
The influence of disturbance, using leader-follower's control strategy, entire more AUV system platforms are divided into two parts: leader is
Know moving line parameter, high-precision path following control is realized based on Serent-Frenet coordinate system；Follower utilizes and neighbour
The metrical information and communication information (i.e. relative information) in residence are formed, and there is the movement of certain formation to form into columns, to improve more AUV
Distributed collaboration tracking ability.
Summary of the invention
In order to overcome the Underwater Navigation of existing more AUV systems inaccurate, the deficiencies of measurement and communication distance are limited, this hair
It is bright provide it is a kind of based on uncertain ocean current disturbance under more AUV distributed collaboration tracking and controlling methods, be mainly utilized between AUV
Relative position information and information content needed for simplifying controller, realize that there are more AUV points in the case where ocean current disturbance
Cloth cooperates with tracing control, ensure that the stability of system, provides new side 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:
Based on more AUV distributed collaboration tracking and controlling methods under the disturbance of uncertain ocean current, comprising the following steps: based on not
Determine more AUV distributed collaboration tracking and controlling methods under ocean current disturbance, which comprises the following steps:
Step 1, AUV kinematics model is established and with the kinetic model under the disturbance of 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
It is lower course angle, 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 comprising additional mass of i-th of AUV
Matrix；For i-th of AUV damping matrix；vri=[uri rri]TIt is i-th
The rate matrices of actual forward speed and the angular velocity in yaw composition of AUV；τi=[Fi Γi]TFor the control of dynamic system
Input；τwi=[τwui τwri]TFor time-varying ocean current perturbation vector unknown in dynamic system；M and IzThe respectively quality of AUV
And inertial matrix；WithRespectively AUV translation additional mass and rotation additional mass；XuuAnd NrRespectively AUV translation is viscous
Property hydrodynamic force coefficient and rotation viscous hydrodynamic forces coefficient；FiAnd ΓiThe forward thrust of respectively i-th AUV and turn bow torque；τwui
And 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 device of the leader AUV based on Serret-Frenet method is designed；
2.1 since 2 leaders are mutually 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 system；
2.2 pairs of formula (3) derivations can obtain
Wherein, CcIt (s) 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 variableAre as follows:
Wherein, ν0, k1, k2It is all constant, and k1> 0 and k2>0；
Step 3, consider that subaqueous survey communicates the problems such as limited and GPS positioning is inaccurate, propose follower AUV distribution
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 for the complex-valued weights on directed edge (q, p) in measurement figure G；μpqTo have in Communication Graph H
Positive real number weight on side (q, p) is given constant；Ni(G) and NiIt (H) 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 mutually indepedent between leader AUV, plural La Pula
This matrix L and real number Laplacian Matrix H expression-form are respectively
Wherein, det (Lff)≠0；det(Hff)≠0；Follower AUV collects leader in measurement 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 estimation of i-th of AUV to leader's speed；Define η1=η2=
ν0, thendi> 0, it is constant；
Step 4, more AUV system dynamics controllers containing uncertain ocean current disturbance compensation item are proposed；
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, collaboration tracing control is carried out to AUV using the Dynamics Controller that step 4 designs.
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.
Technical concept of the invention are as follows: utilize leader-follower's control strategy, more AUV system platforms are divided into two
Part: giving route parameter known to leader, designs the path following control device based on Serent-Frenet method；For water
The problem of lower environment AUV self poisoning 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 information content needed for simplifying controller.Speed in order to guarantee more AUV systems is consistent with direction
Property, desin speed estimator and direction controller；Finally, extending to more AUV kinematic controllers with the more of ocean current disturbance
AUV kinetic model realizes the formation tracing control of system.The present invention provides a kind of flat based on more AUV distribution 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
Dinghai flow disturbance bring influences, and establishes key foundation for early warning of marine disasters forecast, marine environment guarantee.
Advantages of the present invention are as follows: for the self poisoning inaccuracy of more AUV mobile platforms, between AUV measurement and communication away from
The problems such as from limited and uncertain ocean current disturbing influence, information needed for designing and simplifying kinematics and dynamics controller
Amount realizes the collaboration path trace based on more AUV platforms using relative information, ensure that the stability of system.
Detailed description of the invention
Fig. 1 is the topological structure schematic diagram of measurement figure G and Communication Graph H of the 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 location 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 location error and angle change.
Fig. 6 is flow chart of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
- Fig. 5 referring to Fig.1, based on more AUV distributed collaboration tracking and controlling methods under the disturbance of uncertain ocean current, including with
Lower step:
Step 1, AUV kinematics model is established and with the kinetic model under the disturbance of 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
It is lower course angle, 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 comprising additional mass of i-th of AUV
Matrix；For i-th of AUV damping matrix；vri=[uri rri]TIt is i-th
The rate matrices of actual forward speed and the angular velocity in yaw composition of AUV；τi=[Fi Γi]TFor the control of dynamic system
Input；τwi=[τwui τwri]TFor time-varying ocean current perturbation vector unknown in dynamic system；M and IzThe respectively quality of AUV
And inertial matrix；WithRespectively AUV translation additional mass and rotation additional mass；XuuAnd NrRespectively AUV translation is viscous
Property hydrodynamic force coefficient and rotation viscous hydrodynamic forces coefficient；FiAnd ΓiThe forward thrust of respectively i-th AUV and turn bow torque；τwui
And 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 device of the leader AUV based on Serret-Frenet method is designed；
2.1 since 2 leaders are mutually 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 system；
2.2 pairs of formula (3) derivations can obtain
Wherein, CcIt (s) 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 variableAre as follows:
Wherein, ν0, k1, k2It is all constant, and k1> 0 and k2>0；
In the present embodiment, stability verifying has been carried out to above controller using Liapunov principle, specific as follows:
Define liapunov function:
Formula (6) derivation can be obtained
Bringing formula (5) into formula (7) can obtainIt is possible thereby to which the leader's system controller for determining that the present invention obtains is
Stable；
Step 3, consider that subaqueous survey communicates the problems such as limited and GPS positioning is inaccurate, propose follower AUV distribution
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 for the complex-valued weights on directed edge (q, p) in measurement figure G；μpqTo have in Communication Graph H
Positive real number weight on side (q, p) is given constant；Ni(G) and NiIt (H) 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 mutually indepedent between leader AUV, plural La Pula
This matrix L and real number Laplacian Matrix H expression-form are respectively
Wherein, det (Lff)≠0；det(Hff)≠0；Follower AUV collects leader in measurement 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 estimation 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 vector；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 more than 4.5 AUV systems meets
Wherein, ξ=[ξ1,ξ2,...,ξn]TFor formation base vector；R=[Rl,Rf]；c1And c2By leader's AUV initial positionThe 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, more AUV system dynamics controllers containing uncertain ocean current disturbance compensation item are proposed；
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, more AUV applied to straight line path cooperate with formation control and mixed starters route
More AUV of diameter cooperate with formation control (by taking 5 AUV as an example), to verify effectiveness of the invention.
In order to more effectively be illustrated the validity of the method for the present invention, all parameter settings are all consistent.System ginseng
For the initialization of several and controller parameter respectively as shown in table 1, table 2, formation base vector is ξ=[ι-ι 0-1-2]T, measurement figure G
Topological structure with Communication Graph H is as shown in Figure 1, its Laplacian Matrix expression-form is as follows
1 system 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 the initial position of more AUV, and filled circles indicate the weight of more AUV
Point position, black, which is realized, indicates given path, and black dotted lines are the motion profile of AUV.As seen from Figure 2, more AUV are from any
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 the relative error between more AUV, which is gradually reduced, is intended to 0, and has consistent fortune there are uncertain ocean current interference
Dynamic direction.Therefore, the present invention, which provides, a kind of can effectively reduce controller information based on more AUV distribution formation control platforms
The collaboration tracking and controlling method of amount, while uncertain ocean current disturbance bring influence is avoided using neural network method, for sea
Key foundation is established in foreign disaster prewarning and forecasting, marine environment guarantee.
The initialization of 2 controller parameter of table
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.It can be seen that more AUV 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,
The problems such as measurement and communication distance be limited between AUV and uncertain ocean current disturbing influence, proposes a kind of based on uncertain sea
More AUV distributed collaboration tracking and controlling methods under flow disturbance.
Described above is excellent more AUV collaboration 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. based on more AUV distributed collaboration tracking and controlling methods under the disturbance of uncertain ocean current, which is characterized in that including following step
It is rapid:
Step 1, it establishes AUV kinematics model and with the kinetic model under the disturbance of uncertain ocean current, initializes system shape
State, sampling time and control parameter；
The kinematics model expression-form of 1.1AUV are as follows:
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
Coordinate of i-th of AUV under inertial coodinate system；For i-th of AUV under inertial coodinate system course angle, and meet time t trend
When infinity,φ is 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 generalized mass square comprising additional mass of i-th of AUV
Battle array；vri=[uri rri]TFor the rate matrices of actual forward speed and the angular velocity in yaw composition of i-th of AUV；Di(vri) be
The damping matrix function of i-th of AUV, the state variable of the function are the rate matrices v of i-th of AUVri, expression isτi=[Fi Γi]TIt is inputted for the control of dynamic system；τwi=[τwui τwri]TFor
Unknown time-varying ocean current perturbation vector in dynamic system；M and IzThe respectively quality of AUV and inertial matrix；WithRespectively
For AUV translation additional mass and rotation additional mass；XuuAnd NrRespectively AUV translation viscous hydrodynamic forces coefficient and the sticky water of rotation
The coefficient of impact；FiAnd ΓiThe forward thrust of respectively i-th AUV and turn bow torque；τwuiAnd τwriRespectively i-th AUV's is flat
The ocean current disturbance in dynamic direction and the ocean current of rotation direction disturb；
Step 2, path following control device of the leader AUV based on Serret-Frenet method is designed；
2.1 since 2 leaders are mutually 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 system；
2.2 pairs of formula (3) derivations can obtain
Wherein, CcIt (s) 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 ye sinδ(ye) < 0；
The input [u r] of 2.4 path trace device controllersTWith the change rate of path parameter variableAre as follows:
Wherein, ν0, k1, k2It is all constant, and k1> 0 and k2> 0；
Step 3, the kinematic controller of follower's AUV distribution formation is proposed, the relative position information between AUV is utilized
And controller aequum is simplified, so that 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 constant for the complex-valued weights on directed edge (q, p) in measurement figure G；μpqFor directed edge (q, p) in Communication Graph H
On positive real number weight, be constant；Ni(G) and NiIt (H) 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 mutually indepedent between leader AUV, plural Laplce's square
Battle array L and real number Laplacian Matrix H expression-form are respectively
Wherein, det (Lff)≠0；det(Hff)≠0；LlfIndicate the plural Laplacian Matrix between leader and follower；Lff
Indicate the plural Laplacian Matrix between follower and follower；HlfIndicate the real number La Pula between leader and follower
This matrix；HffIndicate the real number Laplacian Matrix between follower and follower；
The kinematic controller of 3.3 design follower AUV, which inputs, is
Wherein, ηiIt is an auxiliary variable, for indicating estimation of i-th of AUV to leader's speed；Define η1=η2=ν0, thendi> 0 is constant；
Step 4, more AUV system dynamics controllers containing uncertain ocean current disturbance compensation item are proposed；
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 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 in neural network perfect error value
Boundary εNiEstimated value, kε> 0 is constant；Wherein,WithAdaptive law are as follows:
Wherein,It is adaptive matrix, kw,vε> 0 is constant；
Step 5, collaboration tracing control is carried out to AUV using the Dynamics Controller that step 4 designs.
2. dynamic for approaching the method according to claim 1, wherein define neural network in the step 4.4
Ocean current disturbance term τ is not known present in mechanical modelwi。
3. the method according to claim 1, wherein what follower's AUV distribution that the step 3 proposes was formed into columns
Kinematic controller is to communicate limited and inaccurate GPS positioning problem for subaqueous survey and propose.
4. the method according to claim 1, wherein in the step 4.3,It is curvature to path parameter
Local derviation.
5. the method according to claim 1, wherein 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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| CN109062232B (en) * | 2018-09-20 | 2021-08-13 | 哈尔滨工程大学 | Seabed seismic wave detection flight node distributed finite time anti-shake configuration inclusion control method |
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