水下航行器编队运动规划与稳定性研究
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摘要
多水下航行器编队观测是实现海洋长时续、大尺度监测的有效手段，编队观测获取的同时刻不同点的环境数据可极大的提高海洋环境模型的精度。水下航行器编队的运动规划与协调控制是实现多水下航行器编队观测的理论基础，同时也是海洋动态自适应监测网络构建理论的重要分支。本文针对复杂环境下的海洋监测和探测任务，对水下航行器编队的运动规划与协调稳定性进行了研究。通过在编队的个体之间建立势能场，将水下航行器编队系统视为一个多体系统，利用人工势能场和Kane方法实现了水下航行器编队系统的运动规划，并仿真验证了多质点模型编队系统的轨迹规划和多刚体模型编队系统的方位同步，同时利用能量方法分析了旋转刚体编队系统的稳定性。本文的主要研究成果和创新点如下：
根据水下航行器个体特征和海洋监测任务的特点，将水下航行器编队系统视为一个多刚体系统。通过在编队系统个体间建立间距势能场和方位势能场，形成了个体间的虚拟力约束，构建了水下航行器多刚体编队系统。
采用人工势能场与多体动力学方法实现水下航行器编队的运动规划。将水下航行器视为质点，可将水下航行器多刚体编队系统简化为“质点系编队”。采用主从式控制方法协调编队内的个体，并用Kane方法求解水下航行器编队系统的动态特性，实现水下航行器编队的运动规划。
基于人工势能场与多体动力学理论，建立了水下航行器编队系统的“多刚体系统”动力学模型。在此模型的基础上，完成了忽略移动自由度即仅考虑转动自由度的“旋转刚体编队”的协调仿真。
针对旋转刚体组成的编队，提出了一种基于能量观点的镇定控制器设计方法，通过反馈赋予编队新的能量函数，并使其保持系统的拉格朗日结构；利用能量方法证明了旋转刚体编队系统的稳定性。
Motion planning and cooperative control of multiple autonomous underwatervehicles (AUVs) is important in the construction of dynamic adaptive oceanprediction networks. Multi-AUV formation is effective in large scale oceanobservation missions. Individual vehicle in the formation simultaneously samples inthe observation area. The sampling data obtained by the formation can be used tomodel physical processes in the ocean with a higher accuracy than those developedby sampling data from a single vehicle. This dissertation presents motion planningand stability analysis for multi-AUV formation in complicated ocean environment.The main contributions are summarized as follows:
The multi-vehicle formation is regarded as a multi-body system and theindividual in the formation is treated as one rigid body in the multibody system.Artificial potential fields that include interactive potential and orientation potentialare introduced as functions of relative position and relative orientation betweenneighboring vehicles respectively. Virtual forces derived from the constructedartificial potential fields are used to constrain the motion of individual vehicles.
Motion planning for the formation is conducted using the artificial potentialfield (APF) method and multibody dynamics. AUVs in the formation are treated asparticles with full actuation. The Multi-AUV formation is simplified as onemulti-particle formation by ignoring the attitude of the vehicles. The leader-followerapproach is used to coordinate individuals in the formation and Kane’s method fordynamic analysis of multibody systems is used to study the dynamic characteristicsof motion of the multi-AUV formation.
The dynamic model of the multi-rigid-body formation is constructed based onAPF method and solved using multibody dynamics. The multi-AUV formation issimplified as a formation of spinning rigid bodies by ignoring translation of theAUVs. Coordination of the multi-spinning-body formation is investigated. Theattitude synchronization of the spinning rigid body formation implies that theindividuals in the formation have the same rotation matrices. Simulation is alsoperformed on coordination of the multi-AUV formation as a group of spinning rigid bodies.
The stabilization control law for the multi-AUV formation is designed based onenergy shaping. A new energy function that keeps Lagrangian structure of the systemis introduced by feedback to the formation and a potential shaping function ofrelative orientations is introduced to synchronize the motion of the vehicles. Theenergy method is used to prove stability and coordinated behavior of the entireformation.
根据水下航行器个体特征和海洋监测任务的特点，将水下航行器编队系统视为一个多刚体系统。通过在编队系统个体间建立间距势能场和方位势能场，形成了个体间的虚拟力约束，构建了水下航行器多刚体编队系统。
采用人工势能场与多体动力学方法实现水下航行器编队的运动规划。将水下航行器视为质点，可将水下航行器多刚体编队系统简化为“质点系编队”。采用主从式控制方法协调编队内的个体，并用Kane方法求解水下航行器编队系统的动态特性，实现水下航行器编队的运动规划。
基于人工势能场与多体动力学理论，建立了水下航行器编队系统的“多刚体系统”动力学模型。在此模型的基础上，完成了忽略移动自由度即仅考虑转动自由度的“旋转刚体编队”的协调仿真。
针对旋转刚体组成的编队，提出了一种基于能量观点的镇定控制器设计方法，通过反馈赋予编队新的能量函数，并使其保持系统的拉格朗日结构；利用能量方法证明了旋转刚体编队系统的稳定性。
Motion planning and cooperative control of multiple autonomous underwatervehicles (AUVs) is important in the construction of dynamic adaptive oceanprediction networks. Multi-AUV formation is effective in large scale oceanobservation missions. Individual vehicle in the formation simultaneously samples inthe observation area. The sampling data obtained by the formation can be used tomodel physical processes in the ocean with a higher accuracy than those developedby sampling data from a single vehicle. This dissertation presents motion planningand stability analysis for multi-AUV formation in complicated ocean environment.The main contributions are summarized as follows:
The multi-vehicle formation is regarded as a multi-body system and theindividual in the formation is treated as one rigid body in the multibody system.Artificial potential fields that include interactive potential and orientation potentialare introduced as functions of relative position and relative orientation betweenneighboring vehicles respectively. Virtual forces derived from the constructedartificial potential fields are used to constrain the motion of individual vehicles.
Motion planning for the formation is conducted using the artificial potentialfield (APF) method and multibody dynamics. AUVs in the formation are treated asparticles with full actuation. The Multi-AUV formation is simplified as onemulti-particle formation by ignoring the attitude of the vehicles. The leader-followerapproach is used to coordinate individuals in the formation and Kane’s method fordynamic analysis of multibody systems is used to study the dynamic characteristicsof motion of the multi-AUV formation.
The dynamic model of the multi-rigid-body formation is constructed based onAPF method and solved using multibody dynamics. The multi-AUV formation issimplified as a formation of spinning rigid bodies by ignoring translation of theAUVs. Coordination of the multi-spinning-body formation is investigated. Theattitude synchronization of the spinning rigid body formation implies that theindividuals in the formation have the same rotation matrices. Simulation is alsoperformed on coordination of the multi-AUV formation as a group of spinning rigid bodies.
The stabilization control law for the multi-AUV formation is designed based onenergy shaping. A new energy function that keeps Lagrangian structure of the systemis introduced by feedback to the formation and a potential shaping function ofrelative orientations is introduced to synchronize the motion of the vehicles. Theenergy method is used to prove stability and coordinated behavior of the entireformation.
引文
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