二阶非完整性水下机器人的路径跟踪与协调控制分析-analysis of path tracking and coordinated control of second-order nonholonomic underwater vehicle.docxVIP

华 华 中 科 技 大 学 博 士 学 位 论 文 IV IV persistent excitation on some other controllers for path following. By introducing the line-of-sight (LOS) angle adapting with the curvature of curves to the AUV, which is originally used for straight line tracking of ships, and using separated LOS navigation and position control, the path following controller is simplified. Based on Lyapunov design and backstepping technique, the kinematic controller is extended to the dynamic controller. Moreover, the acceleration of AUV side-slip angle is deliberately tackled, such that the complete path following controller is obtained, and the high precision path following is guaranteed. Under the disturbance of ocean current, the principle of input-state-stability and the idea of directly rejecting disturbance are used to design the new path following controllers. Thirdly, under the constraints of limited communication distance and bandwidth of underwater acoustic communication, path following and rigid formation control is integrated, such that the coordinated formation of AUVs based on path following control is more feasible and valuable in practice. Using the methods of formation reference point and virtual structure, the paths are ready for coordinated AUVs with control flexibility. The time-space decoupling characteristic is also embodied in the coordinated controller design, which means each vehicle employs individual path following control to reach the desired spatial position and orientation, and the coordinated controller adjusting speeds of multiple AUVs can assure the formation structure. Later, two types of controller, i.e., leader-follower based controller and decentralized controller are proposed, to realize the path following based formation control of multiple AUVs. The single source and uni-direction of acoustic communication renders leader-follower structure, and the algebraic graph theory is used to build complex underwater communication network, which is helpful to design th