海洋环境下多无人艇协同航行机制与仿人自适应控制研究

项目名称： 海洋环境下多无人艇协同航行机制与仿人自适应控制研究

项目编号： No.51309148

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 水利工程

项目作者： 吴恭兴

作者单位： 上海海事大学

项目金额： 25万元

中文摘要： 本项目针对多无人艇之间路径跟踪的协同控制问题，首先拟采取"单个艇体动 态+可变通信拓扑"的方法，建立多无人艇的协同动力学模型，解决多无人艇系统动态难描 述的问题；其次，通过设计协同控制器的瞬态指标和控制模态，建立多无人艇空间同步航行的协同度特征模型；然后，建立协同度的数学模型，探索多无人艇路径跟踪的协同机制，并通过运用仿人智能控制理论和S 面自适应算法，研究一种自适应强、鲁棒性高的仿人自适应协同控制方法；最后，通过多无人艇的半实物仿真和湖上试验，验证多无人艇之间的协同机制，及其自适应协同控制的新方法。通过该项目的研究，可为多无人艇自主编队航行及协同探测、多海洋机器人协作观测提供理论基础和技术支持，也可为海洋资源的探索、海洋环境的监测提供新途径、新思路。

中文关键词： 协同控制；协同动力学；仿人智能控制；多无人艇；

英文摘要： In allusion to the problem of collaborative navigation control for the Mutil- Unmanned Surface Vehicles(Mutil-USVs), firstly, the method of "single ship model dynamic + alterable communication topology" is abopted to establish the coordinated dynamics mathematics model for Multi-USVs, which will solve the problem of hard to description the dynamics of the Multi-USVs.Secondly, the coordinated dynamics model will be estabilished by the way of designing the controller instansien index and congtrol modal. Thirdly, the coordinated degree mathematics model will be established at the basic of coordinated dynamics model. Then the collaborative mechanism of the path-following for Multi-USVs will be explored. And the human-simulated adaptive coordinated control method will be researched, which is adaptive and robust, by the way of using the control theory of human-simulated intelligente and the sigmoid-plane adaptive algorithm. Finally,the collaborative mechanism and adaptive coordinated control method will be explored and validated by the way of hardware-in-loop simulation and lake trial for the Multi-USVs. According to the sdudy of this project, there will be more basic theorys and technique support for the USVs formate coordinated exploration and the ocean collaborative observation, and also there will be a new way and

英文关键词： Coordinated control；Coordinated dynamics；Human-simulated Intelligent control；Multi Unmanned Surface Vehicles；