论文标题
使用分布式生物启发的滑动模式控制的多个AUV系统的共识形成跟踪
Consensus Formation Tracking for Multiple AUV Systems Using Distributed Bioinspired Sliding Mode Control
论文作者
论文摘要
在非线性和不确定动态的情况下，多种自动水下车辆（AUV）的共识形成跟踪是机器人技术的一个挑战性问题。为了应对这一挑战，本文提出了分布式生物启发的滑动模式控制器。首先，提出了常规的滑动模式控制器（SMC），并根据图理论解决了共识问题。接下来，为了解决SMC方案中的高频聊天问题，同时提高了噪声的鲁棒性，引入了生物启发的方法，其中采用神经动态模型来替换传统滑动模式控制器合成中的非线性符号或饱和功能。此外，在Lyapunov稳定性理论的存在下证明了所得闭环系统的输入到州的稳定性。最后，进行了仿真实验，以证明所提出的分布式形成控制方案的有效性。
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is proposed in this paper. First, the conventional sliding mode controller (SMC) is presented, and the consensus problem is addressed on the basis of graph theory. Next, to tackle the high frequency chattering issue in SMC scheme and meanwhile improve the robustness to the noises, a bioinspired approach is introduced, in which a neural dynamic model is employed to replace the nonlinear sign or saturation function in the synthesis of conventional sliding mode controllers. Furthermore, the input-to-state stability of the resulting closed-loop system is proved in the presence of bounded lumped disturbance by the Lyapunov stability theory. Finally, simulation experiments are conducted to demonstrate the effectiveness of the proposed distributed formation control protocol.
