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.
PANG Shikun,WANG Jian,YI Hong,LIANG Xiaofeng
. Formation Control of Multiple Autonomous Underwater Vehicles
Based on Sensor Measuring System[J]. Journal of Shanghai Jiaotong University, 2019
, 53(5)
: 549
-555
.
DOI: 10.16183/j.cnki.jsjtu.2019.05.006
［1］崔荣鑫, 徐德民, 严卫生. 仅利用位置信息的自主水下航行器主从式编队控制方法［J］. 兵工学报, 2008, 29(8): 980-984.
CUI Rongxin, XU Demin, YAN Weisheng. Leader-follower formation control of autonomous underwater vehicles using position information only［J］. Acta Armamentarii, 2008, 29(8): 980-984.
［2］朱大奇, 杜青. 基于领航位置信息的 AUV 三维编队控制方法［J］. 系统仿真技术, 2013: 9(3): 193-198.
ZHU Daqi, DU Qing. Three-dimensional formation control method for AUV based on pilot location information［J］. System Simulation Technology, 2013: 9(3): 193-198.
［3］雷艳敏, 冯志彬, 宋继红. 基于行为的多机器人编队控制的仿真研究［J］. 长春大学学报, 2008, 18(4): 40-44.
LEI Yanmin, FENG Zhibin, SONG Jihong. The simulation study on formation control of multi-robot system based on behaviors［J］. Journal of Changchun University, 2008, 18(4): 40-44.
［4］曾志峰, 汤一华, 陈士橹, 等. 基于行为的太阳帆群编队方法［J］. 西北工业大学学报, 2012, 30(1): 44-49.
ZENG Zhifeng, TANG Yihua, CHEN Shilu, et al. A better formation planning algorithm of solar sail swarm based on behavior［J］. Journal of Northwestern Polytechnical University, 2012, 30(1): 44-49.
［5］潘无为, 姜大鹏, 庞永杰, 等. 人工势场和虚拟结构相结合的多水下机器人编队控制［J］. 兵工学报, 2017, 38(2): 326-334.
PAN Wuwei, JIANG Dapeng, PANG Yongjie, et al. A multi-AUV formation algorithm combining artificial potential field and virtual structure［J］. Acta Armamentarii, 2017, 38(2): 326-334.
［6］QI X. Adaptive coordinated tracking control of multiple autonomous underwater vehicles［J］. Ocean Engineering, 2014, 91: 84-90.
［7］SHOJAEI K. Leader-follower formation control of underactuated autonomous marine surface vehicles with limited torque［J］. Ocean Engineering, 2015, 105: 196-205.
［8］ROUT R, SUBUDHI B. A backstepping approach for the formation control of multiple autonomous underwater vehicles using a leader-follower strategy［J］. Journal of Marine Engineering & Technology, 2016, 15(1): 38-46.
［9］DAS B, SUBUDHI B, PATI B B. Cooperative formation control of autonomous underwater vehicles: An overview［J］. International Journal of Automation and Computing, 2016, 13(3): 199-225.
［10］DAS B, SUBUDHI B, PATI B B. Co-operative control coordination of a team of underwater vehicles with communication constraints ［J］. Transactions of the Institute of Measurement and Control, 2016 (13): 463-481.
［11］丁国华, 朱大奇. 多 AUV 主从式编队及避障控制方法［J］. 高技术通讯, 2014, 24(5): 538-544.
DING Guohua, ZHU Daqi. Control of leader-follower formation and obstacle avoidance for multi-AUV［J］. Chinese High Technology Letters, 2014, 24(5): 538-544.
［12］向先波. 二阶非完整性水下机器人的路径跟踪与协调控制研究［D］. 武汉: 华中科技大学, 2010.
XIANG Xianbo. Research on path following and coordinated control for second-order nonholonomic AUVs［D］. Wuhan: Huazhong University of Science and Technology, 2010.
［13］XIANG X B, YU C Y, NIU Z M, et al. Subsea cable tracking by autonomous underwater vehicle with magnetic sensing guidance［J］. Sensors, 2016, 16(8): 1335.
［14］杨波, 方华京. 具有通信约束的分布式水下航行器群编队控制［J］. 华中科技大学学报(自然科学版), 2009, 37(2): 57-60.
YANG Bo, FANG Huajing. Distributed-control of maneuvers of underwater vehicle groups with communication constraints［J］. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2009, 37(2): 57-60.
［15］DO K D, PAN J. Control of ships and underwater vehicles: Design for underactuated and nonlinear marine systems［M］. UK: Springer Science & Business Media, 2009.
