在轨协作采集中的协同自适应控制.docVIP

在轨协作采集中的协同自适应控制 陈杨杨 ，田玉平 东南大学自动化学院，南京，邮编：210096 摘要：本文给出了一种多个全驱动水下探测器以时不变的期望速度在轨协作采集控制方法。利 用双向通信信息，基于一致性方法来设计协同自适应控制器来估计期望的在轨速度，从而解决 了文献中需要每个探测器都能得到期望的在轨速度信息。通过引入势能函数避免了假设探测器 的总速度始终不为 0. 仿真结果验证了方法的有效性 关键词：协同自适应控制，协作采集运动，全驱动水下探测器 中图分类号： TP273 Coordinated Adaptive Control for Collective Motion on Level Curves with a Time-Invariant Orbital Velocity CHEN Yang-Yang , TIAN Yu-Ping School of Automation, Southeast University, Nanjing 210096 Abstract: This paper develops a distributed strategy that stabilizes collective motion in fully actuated models of multiple surface vessels that travel on given convex loops and approach a time-invariant reference orbital velocity. A consensus-based adaptive control law under the bidirectional commutation topology is proposed to estimate the desired orbital velocity so that the restriction that every vehicle in the family has access to the reference in the literature is removed. The assumption of nonzero linear speed of each vessel is avoided by introducing a potential function. An simulation example is presented as a proof of concept. Key words: Coordinated Adaptive Control, Collective Motion, Fully-Actuated Surface Vessels 0 Introduction Nowadays the trend of ocean sampling is to use a ?eet of sensor-equipped autonomous marine vehicles moving together in a prescribed pattern [1, 2]. For the purpose of collecting the 基金项目： National Natural Science Foundation , Doctoral Fund of Ministry of Education of China (20110092120025) 作者简介： Correspondence author：CHEN Yang-Yang（1981-），male，Doctor，major research direction：coordination path following control and formation control, yychen@. Tian Yu-Ping（1964-），male，professor，major research direction：robust and nonlinear control theory, optimization and control of communication networks, and cooperative control of multi-robots, yptian@. -1- richest data set in an ocean environment, coordinated vehicle sea-routes is designed according to the spatial and temporal v