UUV编队自适应协同跟踪控制研究

Research on Adaptive Collaborative Tracking Control for UUV Formation

摘要:

近年来，水下无人航行器(简称 UUV)在海洋资源勘测开发、海洋生态监测以及军事、经济、 社会等领域均有广泛应用，多 UUV 的编队控制成为国内外水下无人航行器研究的热点。首先给出了简化的三自由度 UUV 数学模型，然后通过平面直线的 Serret-Frenet 方程，建立 UUV 路径跟踪误差模型。通过运用领航者–跟随者方法构建 UUV 的编队控制模型，引入滑模控制的方法，对跟随者 UUV 的控制器进行设计，最终稳定地形成预设的编队。

关键词:UUV;领航者–跟随者;滑模控制

Abstract:

In recent years，the unmanned underwater vehicle(UUV)has been widely used in the exploration and development of seabed resources，marine ecological monitoring，as well as in military fields. The formation control of multi-Uuvs has become the focus of domestic and foreign research. A simplified 3-DOF UUV mathematical model is put forward. Then，through Serret-Frenet equation of planar straight line，the UUV path tracking error model is established based on the idea of virtual guidance. The model of UUV formation control is established based on leader-follower method. By using the method of sliding mode control，the controller of UUV is designed. Finally，the UUVs form a preset formation steadily .

Key words:unmanned underwater vehicles;leader-follower;sliding mode control