基于视线导航的自主水下航行器编队轨迹控制(英文)

被引：1

作者：

王银涛

严卫生

闫伟

机构：

[1] 西北工业大学航海学院

来源：

系统仿真学报 | 2010年 / 06期

关键词：

自主水下航行器; 编队跟踪; 视线导航; 反馈线性化;

D O I：

10.16182/j.cnki.joss.2010.06.017

中图分类号：

U674.941 [潜水船];

学科分类号：

082401 ;

摘要：

编队航行对于提高自主水下航行器的水下作业能力和生存能力具有重要意义,以组成三角形编队前行的三个自主水下航行器为研究对象,基于Leader-Follower编队控制思想和反馈线性化技术设计了d?φ编队控制率,同时,提出了一种变结构控制方法,该方法通过视线导引角计算保持横向轨迹误差最小,进而使自主水下航行器沿预设的航路前进。仿真结果表明所提出的方法切实可行,很好地解决了自主水下航行器协同控制中的编队轨迹跟踪问题。

引用

页码：1421 / 1424+1436 +1436

页数：5

共 14 条

[1]

Robust coordinated control of satellite formations subject to gravity perturbations. A Serrani. Proceedings of the American Control Conference . 2003

[2]

Application of formation control for multi-vehicle robotic minesweeping. A J Healey. Proceedings of the 40th IEEE Conference onDecision and Control, 2001 . 2001

[3]

Vector Modeling and Simulation of the Autono- us Underwater Vehicle in Spatial Motions. Pan Ying,Xu Demin. Journal of System Simulation . 2003

[4]

Contour Tracking Control for the REMUS Autonomous Underwater Vehicle. Alan Robert Van Reet. . 2005

[5]

Trajectory path planning for the Aries AUV. J J Keegan. . 2002

[6]

ZIP[P]. FROEHLICH ALFONS.CS194201B2,1979-11-30

[7]

A survey of space formation flying guidance and control (part 2). Daniel P Scharf,Fred Y Hadaegh,Scott R Ploen. Proceedings of the American Control Conference . 2004

[8]

Vision-based follow the- leader. N Cowan,O Shakerina,R Vidal S Sastry. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2003 . 2003

[9]

A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles. Naeem W,et al. The Journal of Neuroscience . 2003

[10]

Assessment of Air-toAir Missile Guidance and Control Technology. Cloutier J R,Evers J H,Feeley J J. IEEE Control Systems Magazine . 1989

← 1 2 →