变拓扑条件下无人水下航行器协同路径跟踪的高效及包含控制

The cooperative control techniques of unmanned underwater vehicles have been widely applied and received extensive attentions in recent years. With the combination of the cooperative path following principles, the project will explore the key unsolved theory and solve the control problems of cooperative control for unmanned underwater vehicles. In order to improve the efficiency of controllers and adaption under variable topology for a group of unmanned underwater vehicles in the present of constrains on model uncertainties, variable topology and local communications, the problem of control command with its active region and region-oriented containment control will be intensively studied. The framework of high efficiency path following control for unmanned underwater vehicles will be established, the adaptive capability of region-oriented coordination control under variable topology and local communications will be endued to unmanned underwater vehicles. Theories and the key techniques will be verified through experiments. Through the project, a systematic and self-contained framework of containment based cooperative path following will be established. The project also aims at enhancing the generality of corresponding theories and techniques, which will provide theoretical foundation and technical supports for cooperative exploration of unmanned underwater vehicles.

无人水下航行器的协同控制技术在近年来得到了广泛的关注与应用。本项目将结合协同路径跟踪原理，探索无人水下航行器协同控制中尚未解决的关键理论和控制难题。针对具有模型不确定、变拓扑及局部通信约束下的无人水下航行器群系统，以提高控制器的利用效率及变拓扑环境下的适应性为目标，深入研究控制指令的作用域及面向区域的包含控制问题，建立起无人水下航行器高效率路径跟踪控制框架，赋予无人水下航行器复杂通讯环境下的自适应能力及局部信息支撑下的区域协同控制能力，进行理论分析与关键技术实验验证。通过本项目的探究，建立一套系统而完善的协同路径跟踪包含控制框架，提升相关理论技术的通用性，为无人水下航行器在水下协同作业提供理论基础与技术储备。

本项目针对多无人水下航行器的协同路径跟踪问题进行了研究。在项目的资助下，提出了一种基于切换控制的神经自适应方法对系统未知动态进行在线逼近，显著提升控制器利用效率的同时获得了系统全局稳定的结论；结合多智能体系统包含控制思想，提出了面向任务区域的多无人水下航行器单路径协同控制方法，使得协同路径跟踪问题中的路径参数具有了新的协同方式；通过提出双层反馈协同控制策略，使多水下滑翔机在拓扑变化及非实时协同的环境下实现了协同控制，并获得了海上试验验证。相关研究成果发表在《IEEE Transactions on Systems, Man and Cybernetics》、《Applied Ocean Research》、《机器人》等知名期刊以及出版专著与专利等成果。本项目研究成果进一步发展了协同路径跟踪控制理论，为研究多无人水下航行器协同控制问题提供了新方法、新理论与新应用场景，项目成果获得了海上试验验证。