水下多智能体群协调控制仿真分析

摘要

Based on consensus theory, the group motion stability problems of autonomous underwater vehicle(AUV) systems are studied. For the systems with communication constraints, a distributed consensus controller for each AUV is designed. The expression of the communication time delay is given under a connected communication graph. Simulation results illustrate that under a connected communication graph, if the communication time delay between two AUVs is smaller than a certain upper bound, then the velocity vectors of all AUV and the group formation converge to the same desired velocity vector and the desired formation globally asymptotically.%基于一致性理论研究了水下智能体群的运动稳定性问题.在具有通信约束的情况下,对每个智能体设计一个分布式控制器.在系统的通信网络拓扑结构为连通图的情况下,给出了系统时滞上界的具体解析表达式.通过仿真示例验证了当个体间的通信时滞在给定范围内,所有的AUV仍然能全局渐近地收敛至期望速度和期望队形.