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Finite-time sideslip observer-based synchronized path-following control of multiple unmanned underwater vehicles

机译：基于有限的SideLip Observer的同步路径跟踪多个无人水下车辆的控制

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摘要

A synchronized path-following control scheme for a cluster of networked unmanned underwater vehicles (UUVs) suffering from unknown dynamics and unknown sideslip angles is proposed in this paper. On the basis of UUV kinematics model, the unknown sideslip angles are successfully identified using finite-time observers, thereby ensuring high accurate path-following performance. By virtue of individual path-following and consensus information, the coordinated light-of-sight guidance and the path update protocol are employed, respectively, which provide sufficient technology support for desired formation pattern. Simultaneously, an adaptive approximation is incorporated into the distributed dynamics controllers, where the lumped unknowns involving modeling uncertainties and time-varying ocean currents are estimated accurately, thereby enhancing the formation system anti-disturbance performance. It is proven that, with the proposed scheme, all vehicles can track the multiple parametric paths synchronously and the entire closed-loop system is globally asymptotically stable. Finally, simulation results for coordinated path-following of four underactuated UUVs are exhibited and discussed.
机译：本文提出了一种用于患有未知动力学和未知侧线角的网络的无人水下车辆（UUV）集群的同步路径控制方案。在UUV运动学模型的基础上，使用有限时间观察者成功识别了未知的侧滑角，从而确保了高准确的路径跟踪性能。借助于个人路径跟踪和共识信息，分别采用协商视角和路径更新协议，为所需的形成模式提供足够的技术支持。同时，将自适应近似结合到分布式动态控制器中，其中准确地估计了涉及建模不确定性和时变海电流的集总未知，从而提高了地层系统的抗干扰性能。据证明，通过所提出的方案，所有车辆都可以同步跟踪多个参数路径，整个闭环系统全局渐近稳定。最后，表现出并讨论了四种欠扰UUV的协调路径的仿真结果。

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  • 来源
    《Oceanographic Literature Review》 |2020年第10期|2288-2288|共1页
  • 作者

    X. Qu; X. Liang; Y. Hou;

  • 作者单位

    School of Naval Architecture and Ocean Engineering Dalian Maritime University Dalian 116026 China;

    School of Naval Architecture and Ocean Engineering Dalian Maritime University Dalian 116026 China;

    School of Naval Architecture and Ocean Engineering Dalian Maritime University Dalian 116026 China;

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