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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2020, Vol. 2 Issue (1): 22-30    DOI: 10.1049/iet-csr.2019.0027
    
通信延迟下自主水下航行器的改进约束自适应编队控制方案
Chhavi Suryendu1, Bidyadhar Subudhi2
1 Department of Electrical Engineering, National Institute of Technology Rourkela, Rourkela, Odisha 769008, India
2 School of Electrical Sciences, Indian Institute of Technology, Goa, Goa-403401, India
Modified constrained adaptive formation control scheme for autonomous underwater vehicles under communication delays
Chhavi Suryendu1, Bidyadhar Subudhi2
1 Department of Electrical Engineering, National Institute of Technology Rourkela, Rourkela, Odisha 769008, India
2 School of Electrical Sciences, Indian Institute of Technology, Goa, Goa-403401, India
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摘要： 自主水下航行器(AUVs)编队控制算法的性能可能会受领航和跟随自主水下航行器之间的通信约束而下降。此外，由于海浪的影响，自主水下航行器之间的距离会发生变化，因此通信延迟也会发生变化。本文提出了一种改进的约束自适应控制器(CAC)来解决变延迟变化和执行器饱和问题。由于成本函数的在线降低，在考虑通信延迟影响的情况下，CAC的增益在每次采样时都会被更新。这提高了领航和跟随自主水下航行器的路径跟踪精度。通过在原型AUV（ODRA-I）模型上实现该算法，证明了所提出控制算法的有效性。仿真和实验结果表明，跟随AUVs与领航AUV保持了一个期望的距离以避免碰撞。在所提出的算法中，即使延迟从0秒变为5秒，跟随AUV的路径跟踪性能仍能保持在期望的水平。此外，该控制算法在避免执行器饱和方面是有效的。
Abstract: The performance of a formation control algorithm for a group of autonomous underwater vehicles (AUVs) may be degraded due to communication constraints between the leader and the follower AUVs. Moreover, as the distance between the AUVs change due to ocean waves, the delay in communication also varies. In this study, a modified constrained adaptive controller (CAC) is proposed to resolve the issue of variable-delay as well as actuator saturation. Due to the on-line reduction of the cost function, the gains of the CAC are updated at each sampling time taking into account the effects of communication delay. This improves the path-following accuracy of the leader AUV as well as follower AUVs. The effectiveness of the proposed control algorithm is demonstrated by implementing it on a prototype AUV (ODRA-I) model. The obtained simulation and experimental results show that the follower AUVs maintain a desired distance from the leader AUV to avoid a collision. For the proposed algorithm, the desired path-following performance of the follower AUV is maintained even when the delay is changed from 0 to 5 s. Moreover, the proposed control algorithm is efficient in avoiding actuator saturation.
收稿日期: 2019-05-23 出版日期: 2020-04-03
通讯作者: Bidyadhar Subudhi     E-mail: bidyadhar@iitgoa.ac.in
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引用本文:

Chhavi Suryendu, Bidyadhar Subudhi. Modified constrained adaptive formation control scheme for autonomous underwater vehicles under communication delays. IET Cyber-Systems and Robotics, 2020, 2(1): 22-30.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0027    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I1/22

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