基于路径跟踪的欠驱动 UUV 编队协调控制

研究了空间曲线路径跟踪下多无人水下航行器（UUV）的编队协调控制问题．将此类控制问题分解为2个控制子问题：a．路径跟踪控制问题；b．协调编队控制问题．在单个UUV的路径跟踪控制中利用反步法设计路径跟踪控制器；通过引入代数图论知识，得到多个UUV复杂网络通信拓扑的数学表达，根据通信得到相邻UUV的状态来调整自身的航速，设计协调控制器，使得多UUV沿期望路径的位置和速度在规定队形下达到一致，实现多UUV间的协调，而不影响空间域上的路径跟踪性能．理论分析和仿真结果证实了控制器的有效性．

Path tracking-based underactuated UUV formation coordinated control

Coordinated control of multiple unmanned underwater vehicle(UUV) that follows a given straight line path was addressed.The control issues were decomposed into two control sub-issues: a.path tracking control problem;b.coordinated formation control problem.In the path tracking control problem of a single UUV,the lines of sight guidance algorithm were introduced to design the path tracking controller,making the tracking error converges to zero asymptotically.Through the introduction of algebraic graph theory,the mathematical expression of multi-UUV complex network communication topology was received.The state of these adjacent UUV were obtained to adjust each forward speed according to communication,and design the coordination controller,making the location and speed of multi-UUV consistent with each other along the desire path,without affecting the spatial domain and the path tracking performance.It can be seen from the simulation experiments,that the theoretical analysis and results confirm the effectiveness of the controller.