输入时延与通信时延下AUV集群的牵制控制

杜雪; 孙兆栋; 徐成龙; 靳泽晟

doi:10.13700/j.bh.1001-5965.2022.0538

输入时延与通信时延下AUV集群的牵制控制

doi: 10.13700/j.bh.1001-5965.2022.0538

哈尔滨工程大学智能科学与工程学院，哈尔滨 150000

基金项目: 国家自然科学基金(52171297)；中国博士后基金(2019M651265)；黑龙江省自然科学基金(LH2020E079)

详细信息

通讯作者:
E-mail：duxue@hrbeu.edu.cn

中图分类号: U661.33
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出版历程
- 收稿日期: 2022-06-29
- 录用日期: 2022-08-14
- 网络出版日期: 2023-01-12
- 整期出版日期: 2024-05-29

Pinning control of AUV cluster under input delay and communication delay

College of Intelligent Systems Science and Engineering，Harbin Engineering University，Harbin 150000，China

Funds: National Natural Science Foundation of China (52171297); China Postdoctoral Science Foundation (2019M651265); Heilongjiang Provincial Natural Science Foundation of China (LH2020E079)

More Information

Corresponding author: E-mail：duxue@hrbeu.edu.cn

摘要

摘要:
针对时延问题对集群稳定性的影响，对牵制控制策略进行研究，利用反馈线性化将水下无人潜航器(AUV)模型简化为二阶积分器模型，研究了具有时延的水下无人潜航器集群下的编队控制问题，并将一致性控制与牵制控制相结合。分析了输入时延和通信时延对水下无人潜航器集群系统的影响，应用Nyquist判据控制理论进行证明，得到了集群中被牵制水下无人潜航器和未被牵制水下无人潜航器组成的系统能渐进收敛达到一致性的充分必要条件。通过数值仿真验证了定理的正确性。
- 水下无人潜航器集群 /
- 一致性 /
- 牵制控制 /
- 通信时延 /
- 输入时延
Abstract:
Addressing the impact of latency issues on cluster stability. The traction control strategy is studied. Through the use of feedback linearization, the autonomous underwater vehicle (AUV) model is reduced to a second-order integrator model. The formation control problem of multiple AUV clusters with time delay is examined, and the traction control and consistency control are combined. The influence of input delay and communication delay on the AUV cluster system is analyzed. The Nyquist criterion control theory is used to prove it. We provide the sufficient and necessary conditions for the system’s asymptotic convergence, which is made up of the cluster’s pinned and unpinned AUV. Finally, the correctness of the theorem is further verified by numerical simulation.
- autonomous underwater vehicle cluster /
- consistency /
- pinning control /
- communication delay /
- input delay

HTML全文

图 1 AUV通信拓扑结构

Figure 1. AUV Communication topology structure

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图 2 AUV队形

Figure 2. AUV formation

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图 3 通信时延为5 s下的AUV位置误差

Figure 3. AUV position error with a communication delay of 5 s

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图 4 通信时延为5 s下的AUV速度

Figure 4. AUV speed with a communication delay of 5 s

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图 5 通信时延为10 s下的AUV位置误差

Figure 5. AUV position error with a communication delay of 10 s

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图 6 通信时延为10 s下的AUV速度

Figure 6. AUV speed with a communication delay of 10 s

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图 7 输入时延为5 s下的AUV位置误差

Figure 7. AUV position error with a input delay of 5 s

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图 8 输入时延为5 s下的AUV速度

Figure 8. AUV speed with a input delay of 5 s

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图 9 输入时延为10 s下的AUV位置误差

Figure 9. AUV position error with a input delay of 10 s

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图 10 输入时延为10 s下的AUV速度

Figure 10. AUV speed with a input delay of 10 s

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