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摘要: 考虑含有模型参数不确定及未知海洋扰动的多AUVs协同编队问题，本文提出一种新的控制方法，该方法可保证编队在固定时间内实现.首先，将模型参数不确定及海洋扰动看作复合扰动，设计扰动观测器，实现固定时间内对扰动的精确估计.基于扰动观测器，指令滤波技术、固定时间理论及虚拟轨迹概念，设计编队控制律，实现编队目标，并保证闭环系统中的所有信号是全局固定时间稳定的.最后通过两艘AUV的编队仿真验证了所提算法的有效性.Abstract: The paper is concerned with formation control of autonomous underwater vehicles (AUVs) subject to model parameter uncertainties and unknown ocean disturbances, a novel control scheme is developed, by which the formation can be achieved within a fixed time. The ocean disturbance is combined with the model parameter uncertainties as a compound disturbance. Then a disturbance observer (DO) is constructed to estimate the compound disturbance, which can be achieved within the settling time with zero estimation errors. Based on the DO, command filter technique, fixed-time control and virtual trajectory, a formation control law is designed, by which the formation control can be achieved with all the states globally stabilized in a given fixed time. The effectiveness of the proposed control scheme is demonstrated by numerical simulations.
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Key words:
- Disturbance observer /
- formation control /
- multi-AUVs /
- fixed-time control /
- virtual trajectory
1) 本文责任编委 刘艳军 -
图 4 领航AUV轨迹、虚拟轨迹及跟随AUV轨迹
Fig. 4 Trajectory of leader, virtual trajectory and trajectory of follower
图 5 跟随AUV轨迹与虚拟轨迹跟踪误差$z_1$
Fig. 5 Tracking error $z_1$ between follower trajectory and virtual trajectory
图 9 复合干扰$\varDelta$及其观测值$\hat{\varDelta}$
Fig. 9 Compound disturbance $\varDelta$ and its estimate $\hat{\varDelta}$
图 10 复合扰动$\varDelta$及其观测值$\hat{\varDelta}$
Fig. 10 Compound disturbance $\varDelta$ and its estimate $\hat{\varDelta}$
图 11 领航AUV轨迹、虚拟轨迹及不同初始状态下跟随AUV轨迹
Fig. 11 Trajectory of leader, virtual trajectory and trajectory of follower under different initial states
图 12 不同初始状态下跟随AUV轨迹与虚拟轨迹位置及航向跟踪误差$z_1$
Fig. 12 Tracking error $z_1$ between follower trajectory and virtual trajectory with different initial states
表 1 AUV模型参数
Table 1 Parameters of AUV
Symbol Value Unit $m$ 185 kg $X_u$ $-$70 kg/s $Y_v$ $-$100 kg/s $N_r$ $-$50 $\text{kgm}^2$ $X_{\dot{u}}$ $-$30 kg $Y_{\dot{v}}$ $-$80 kg $N_{\dot{r}}$ $-$30 $\text{kgm}^2$ $X_{u|u|}$ $-$100 kg/m $Y_{|v|v}$ $-$200 kg/m $N_{|r|r}$ $-$100 $\text{kgm}^2$ $I_z$ 50 $\text{kgm}^2$ 
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