针对无领航者AUV编队协调控制问题,提出了一种不同时变通信延迟下的一致性协调控制方法;首先考虑到AUV之间水下通信存在时间延迟和数据丢失的问题,利用状态反馈线性化理论处理AUV数学模型中的非线性耦合项,从而将复杂的AUV模型转换为双积分器动态模型;其次,针对不同延迟通信情况,设计了位置和速度双独立的拓扑结构以减少编队成员之间发送每个数据包中的数据量;最后,提出了无领航者的多AUV稳定条件,进而将多AUV编队控制问题看作是一致性问题,基于Laypunov-Razumikhin定理证明时延多AUV编队系统的稳定性;该控制方法不仅能够克服不同时变延迟和数据丢失对编队的影响,使所有以随机位置和速度出发的AUV的三维轨迹均能达到一致状态,同时能抑制外界干扰;仿真结果与所提控制方法理论结果一致.%Aiming at the coordination control problem of AUVs formation without a pilot,this paper proposes a consensus method for different time-varying communication delay.Firstly,considering the problem that the underwater communication between AUVs is interrupted due to time delay or data loss,the nonlinear coupling term in the AUV mathematical model is processed by the state feedback linearization theory to convert it into a dual integrator dynamic model.Secondly,the position and velocity dual-independent topology are designed to reduce the amount of data in each packet sent between the formation members for different delay communication situations.Finally,the multi-AUV stability condition is proposed;and then the multi-AUV formation control problem is regarded as the consistency problem.Based on the Laypunov-Razumikhin theorem,the formation coordination control system has been proved to be stable.The control method can not only overcome the influence of different time delay and data loss on the formation,so that all AUVs starting at random positions and speeds can reach the same state,but also suppress external interference.The simulation results are consistent with the theoretical results of the proposed control method.
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