论文标题
无奇异的构造路径遵循未射的AUV：扩展版本
Singularity-free Formation Path Following of Underactuated AUVs: Extended Version
论文作者
论文摘要
本文提出了一种控制不足的自动驾驶水下车队后，用于形成路径的方法。提出的方法将基于空的空间行为算法中的几个层次任务结合在一起，以安全地指导车辆。与现有文献相比，该算法包括车间和障碍物碰撞，并采用了将车辆保持在给定的操作限制范围内的方案。该算法使用旋转矩阵来描述避免奇异性的态度，将算法应用于六个自由度的模型。使用级联系统理论的结果，我们证明了闭环系统均匀地指数稳定。我们使用数值模拟来验证结果。
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide the vehicles. Compared to the existing literature, the algorithm includes both inter-vehicle and obstacle collision avoidance, and employs a scheme that keeps the vehicles within given operation limits. The algorithm is applied to a six degree-of-freedom model, using rotation matrices to describe the attitude to avoid singularities. Using the results of cascaded systems theory, we prove that the closed-loop system is uniformly semiglobally exponentially stable. We use numerical simulations to validate the results.
