研究了自治水下机器人(AUV)在三维环境中主从式编队控制问题,提出一种基于生物启发反步级联控制方法.该方法利用领航者的位置信息以及期望的队形得到虚拟AUV的航行轨迹和速度信息,引入反步控制实现跟随AUV对虚拟AUV的轨迹跟踪,实现三维水下编队控制;利用生物启发神经网络有界性的特点,解决了速度跳变以及由此引起的驱动饱和问题.仿真结果表明,该方法实现了预期控制效果,并且有较好的有效性和实用性.%The control of leader-follower formation of autonomous underwater vehicles(AUV)in three-di-mensional underwater environment is discussed in this paper, and a composite method based on bio-inspired neural network and backstepping control is applied.Reference trajectory and speed information of follower, namely virtual vehicle,is obtained based on the leader position and predetermined formation only.Then,the backstepping control is introduces to realize the follower AUV's tracking of the virtual AUV to achieve three dimensional underwater formation control.Using the bounded output character of bio-inspired neural network, the speed jump problem can be solved very well and thruster saturation can be avoided to meet the limitation of AUV thrusters.The simulation results showed that the presented algorithm achieved the expected control effect,and verified the validity and the practicability of the algorithm.
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