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论文:2014,Vol:32,Issue(5):769-774 |
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引用本文： |
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严卫生, 左磊, 崔荣鑫, 陈伟. 洋流干扰下的多自主水面无人船最优覆盖控制[J]. 西北工业大学 |
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Yan Weisheng, Zuo Lei, Cui Rongxin, Chen Wei. Coverage Control of Multiple Autonomous Underwater Vehicle with Disturbance by Ocean Currents Considered[J]. Northwestern polytechnical university |
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| 洋流干扰下的多自主水面无人船最优覆盖控制 |
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| 严卫生, 左磊, 崔荣鑫, 陈伟 |
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| 西北工业大学 航海学院, 陕西 西安 710072 |
| 摘要: |
| 针对洋流干扰下的多自主水面无人船(ASV)对有限海洋环境进行覆盖监控的最优化问题,提出一种基于环境信息密度的分布式控制方法。该控制方法是在考虑洋流因素的情况下,以二阶EulerLagrange模型为控制模型的最优覆盖策略。首先建立基于欠驱动系统的最优覆盖模型,提出时变洋流干扰下的多ASV最优区域分配算法。在此基础上,针对ASV的欠驱动特性,综合应用运动学控制方法与Backstepping技术设计基于二阶Euler-lagrange方程的最优覆盖控制算法,并利用Lyapunov稳定性理论证明其稳定性。最后对多ASV最优覆盖网络进行仿真验证实验,实验结果表明该控制方法能够使多ASV在洋流干扰下从区域Q的任意初始位置收敛到最优覆盖配置。 |
| 关键词:
覆盖控制
多ASV
洋流
欠驱动系统
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| Coverage Control of Multiple Autonomous Underwater Vehicle with Disturbance by Ocean Currents Considered |
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| Yan Weisheng, Zuo Lei, Cui Rongxin, Chen Wei |
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| School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| A decentralized coverage control law is presented to drive a network of autonomous underwater vehicles(ASVs) to an optimal coverage configuration in the ocean environment.Firstly,the transformation of Voronoi Parti-tion is proposed with the disturbance by ocean currents considered。The transformation recalculated the VoronoiPartition and the optimization localization.A controller is provided by introducing a kinematic algorithm to propa-gate ASVs throughout the network with arbitrary initial positions.The dynamical control law is then improved fromthe kinematic controller by employing the adaptive back-stepping techniques.Convergence and stability of ASV sys-tem are proved with Lyapunov stability theorem.Simulation results are presented to illustrate the effectiveness ofthese approaches. |
| Key words:
algorithms
autonomous underwater vehicles
backstepping
calculations
computer simulation
con-trol
controllers
convergence of numerical methods
cost functions
dynamics
efficiency
kinemat-ics
Lyapunov functions
mathematical models
ocean currents
optimization
stability;coverage con-trol
multiple AUVs
under-actuated systems
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| 收稿日期: 2014-04-01
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(60875071，51209174);西工大博士论文创新基金(CX201418)资助 |
| 通讯作者:
Email： |
| 作者简介: 严卫生(1968-)，西北工业大学教授、博士生导师，主要从事水下航行器协同控制研究。
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| 作者相关文章 |
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| 严卫生 在本刊中的所有文章 |
| 左磊 在本刊中的所有文章 |
| 崔荣鑫 在本刊中的所有文章 |
| 陈伟 在本刊中的所有文章 |
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参考文献: |
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