分布式控制框架实现水下航行器群协调控制

提出一种两层分布式控制框架来实现水下航行器群体的协调控制目标.这种框架在结构上分为一致协调器网络层和本地控制层.上层的协调器网络通过群体的非线性一致算法使得各航行器的输入参考值渐近达成一致.本地控制层通过线性二次型高斯回路传输恢复(LQG/LTR)控制器实现对参考输入的快速跟踪.证明了非线性一致算法的收敛性并定量地分析了群体拓扑和一致算法参数等因素对收敛速度的影响.仿真实验验证了该方法的有效性和可行性.

Coordination for swarm of underwater vehicles using distributed control architecture

Distributed control architecture of a two-level hierarchy was proposed to coordinate the swarm of underwater vehicles,which was consisted of the top-level consensus coordinator network and local controller.The consensus coordinator network using the nonlinear consensus algorithm was utilized to coordinate the reference inputs of each vehicle asymptotically while the local controller steers the vehicle to track the reference inputs by LQG/LTR(linear quadratic gaussian/loop transfer recovery) design.The convergence of the proposed nonlinear consensus algorithm was proved and the relation between the convergence speed and factors such as network topology and parameters of consensus algorithm was analyzed.The efficiency and feasibility of the method were verified by the simulation.