针对自治水下机器人(AUV)编队协调控制问题，研究了基于传感探测系统的主从式编队协调控制方法.该方法能够避免AUV编队之间依靠水声通信而造成的通信延迟和数据丢失的问题，提高编队控制的可靠性以及生存能力.首先根据领航者位置信息和期望的编队队形得到跟随者的参考路径，跟随者可以实时测得领航者的距离和航向信息并与参考路径相对比.其次为了使跟随者轨迹在短时间内收敛于参考路径从而得到期望的队形，利用Lyapunov函数设计了反演控制器.最后对设计进行了编队控制的仿真.结果表明，AUV编队队形保持良好，所采用的方法具有很好的可行性.
Autonomous underwater vehicle (AUV) formation is of significance to the efficiency and viability of improving underwater operating. Leader-follower formation of AUVs is researched based on sensor measuring system aimed at the coordination control of AUV formation. The problems of communication delay and data lost caused by underwater acoustic communication can be avoided, and the reliability and survivability of the formation system can be improved. Firstly, the reference route of follower AUVs is generated according to the position information of leader AUV and the desired formation structure. The followers can measure the range and bear information of the leader, and then compare the date with the reference route. A back-stepping controller based on Lyapunov function is designed to make sure that the orbit of followers could converge to the reference trajectory in a short time and the desired formation can be achieved. The simulation analysis of formation control is conducted. The results show that the AUVs can preserve the designed formation, and the proposed method has a high feasibility.
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