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第3期 袁健,等:采用一致性算法与虚拟结构的多自主水下航行器编队控制 ·253· 50 homogeneous swarms of autonomous underwater vehicles [J].Autonomous Robots,2007,22(1)37-53 [8]DEGROOT M.Reaching a consensus[J].Journal of Amer- 3 ican Statistical Association,1974,69(345):118-121. [9]BORKAR V,VARAIYA P.Asymptotic agreement in dis- tributed estimation[J].IEEE Transactions on Automatic Control,1982,27(3):650-655. [10]TSITSIKLIS J,ATHANS M.Convergence and asymptotic 2 agreement in distributed decision problems[J].IEEE t/s Transactions on Automatic Control,1984,29(1):42-50. 图14AUV(1)的角速度控制 [11]VICSEK T,CZIROK A,JACOB E,et al.Novel type of Fig.14 Angular velocity control of AUV(1) phase transitions in a system of self-driven particles[J]. Physical Review Letter,1995,75(6):1226-1229. 5结束语 [12]JADBABAIE A,LIN J,MORSE A.Coordination of groups 本文采用渐近一致性算法和虚拟结构法研究了 of mobile autonomous agents using nearest neighbor rules [J].IEEE Transactions on Automatic Control,2003,48 二维平面内多自主水下航行器小尺度编队控制问 (9):988-1001. 题,通过仿真验证了控制策略是有效的.如何将本文 [13]OLFATI-SABER R,MURRAY R.Consensus problems in 控制策略扩展到三维空间6自由度情形是下一步研 networks of agents with switching topology and time-delays 究的重点.由于所采用的一致性算法是渐近一致的, [J].IEEE Transactions on Automatic Control,2004,49 而控制律为有限时间跟踪控制,导致实际上预定编 (9):1520-1533. 队形状的形成时间为无穷大;因此如何实现有限时 [14]REN W,BEARD R.Consensus seeking in multi-agent 间一致性以及有限时间跟踪控制同步时刻的一致, systems under dynamically changing interaction topologies [J].IEEE Transactions on Automatic Control,2005,50 也是值得研究的问题 (5):655661. 参考文献: [15 KOLMANOVSKY H,MCCLAMROCH N.Developments in nonholonomic controls systems[J].IEEE Control Sys- [1]FIORELLI E,LEONARD N,BHATTA P,et al.Multi- tem Magazine,1997,15(6):20-36. AUV control and adaptive sampling in Monterey Bay[J]. [16]HONG Yiguang,XU Yangsheng,HUANG Jie.Finite-time IEEE Jourmal of Oceanic Engineering,2006,31(4):935- control for robot manipulators[J].Systems Control Let- 948. ters,2002,46(4):243-253. [2]YU S,URA T.A system of multi-AUV interlinked with a 作者简介: smart cable for autonomous inspection of underwater struc- 袁健,男,1980年生,博土研究生, tures[J].Interational Journal of Offshore and Polar Engi- 主要研究方向为网络化机器人系统编 neering,2004,14(4):264-272. 队控制,发表学术论文10余篇. [3]YU S,URA T.Experiments on a system of multi-AUV in- terlinked with a smart cable for autonomous inspection of un- derwater structures J].International Journal of Offshore and Polar Engineering,2004,14(4):273-283. [4]XIANG X.Coordinated control for multi-AUV systems based on hybrid automata[C]//Proceedings of IEEE Inter- 唐功友,男,1953年生,教授,博士 national Conference on Robotics and Biomimetics.Sanya, 生导师,EE高级会员,山东省自动化 China,2007:2121-2126. 学会常务理事等.主要研究方向为计算 [5]TANGIRALA S,KUMAR R,BHATTACHARYYA S,et 机控制、非线性控制、网络控制系统.承 al.Hybrid-model based hierarchical mission control archi- 担国家自然科学基金、“863”计划子课 tecture for autonomous underwater vehicles[C]//American 题以及省级科研基金等科研项目10余 Control Conference.Portland,USA,2005:668-673. 项.曾获国家教委科技进步一等奖1项,国家教委(教育部) [6]YANG E,GU D.Nonlinear formation-keeping and mooring 科技进步二等奖3项,中国出版协会“优秀学术专著一等 control of multiple autonomous underwater vehicles J]. 奖”1项,山东省第二届优秀科技成果二等奖1项,以及中国 IEEE/ASME Transactions on Mechatronics,2007,2 (2): 海洋大学科技进步二等奖1项等多项荣誉.发表学术论文 164-178. 100余篇,其中被SC、EI检索60余篇,出版专著1部. [7]KALANTAR S,ZIMMER U.Distributed shape control of
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