Multi-AUV Fixed-point and Positioning Control Based on Virtual Leader
Juan Li, Yuan Ruikun, Wang Huixin, Xue Du · 2019
With the development of AUV, a special task has emerged: if multiple AUVs perform marine target rescue in the way of formation trajectory tracking, they must be stabilized to the target in the desired position and posture, so that the subsequent rescue mission can be smoothly carried out. The multi-AUV fixed-point positioning problem based on the virtual leader can be described: using the control law to enable the multi-AUV to stabilize to the desired target position and target posture. In this paper, the multi-AUV fixed-point positioning control is based on the directional communication topology, using the virtual leader control strategy and guidance-control structure to achieve fixed-point positioning control of multiple AUVs on known trajectories. For the fixed-point positioning control system, it generally deals with some emergency rescue or search round-up situations, so it requires fast response under the premise of stability. In summary, when designing the controller and selecting the control method, a fast response speed is required under the premise of stability. Therefore, chooses a new control method combining linear time-invariant backstep method and linear time-varying sliding mode variable structure method (namely anti-step sliding mode method) to design multi-AUV fixed-point positioning control based on virtual leader. Multi-AUV can reach the desired pose stably, accurately and quickly in the process of trajectory tracking.