海洋中尺度涡旋观测任务中的水下滑翔机协同控制策略

doi:10.13973/j.cnki.robot.170298

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赵文涛, 俞建成, 张艾群. 海洋中尺度涡旋观测任务中的水下滑翔机协同控制策略[J]. 机器人, 2018, 40(2): 206-215.DOI: 10.13973/j.cnki.robot.170298. ZHAO Wentao, YU Jiancheng, ZHANG Aiqun. The Cooperative Control Strategy for Underwater Gliders in Ocean Mesoscale Eddies Observation Task. ROBOT, 2018, 40(2): 206-215. DOI: 10.13973/j.cnki.robot.170298.

摘要为了实现以水下滑翔机为平台，组队进行海洋中尺度涡旋的采样观测任务，提出了一种水下滑翔机队形协同控制方法．该控制方法可以使滑翔机能够完成以涡旋中心为圆心的预定圆形轨迹的循迹采样，同时在采样过程中能够使滑翔机保持任意预定的相对位置关系．首先，利用极坐标系对滑翔机的队形参数进行建模；然后根据队形参数提出对应的能量方程；最后通过最小化能量方程的导函数，制订相应的水下滑翔机航向控制律．通过建立仿真系统并对不同的轨迹参数进行仿真，在涡旋中心恒速运动和变速运动的情况下，载体均实现了对涡旋区域内不同半径圆形轨迹的跟踪采样观测任务，证明了该方法能够满足圆形预定轨迹上滑翔机队形保持的要求，为进行海洋中尺度涡旋区域组队观测采样提供了一种有效的队形控制方法．

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关键词 ：水下滑翔机, 海洋中尺度涡旋, 协同控制, 能量函数

Abstract：To complete the sampling observation task in the mesoscale eddy region with underwater gliders platform, a cooperative control method for underwater gliders is proposed. Using the control method, underwater gliders can follow and sample the predefined circular trajectories with origin being the eddy center, and maintain any kind of predefined relative position during the sampling process. Firstly, the polar coordinate system is used for modeling the formation parameters of underwater gliders. Then the energy equation is constructed according to the formation parameters. Finally, the corresponding heading angle control law for underwater gliders is formulated by minimizing the value of differential function which is derived from energy function. Different trajectory parameters are investigated on the developed simulation system. Under the circumstances where the eddy center is moving with constant or varying velocity, underwater gliders can complete the sampling observation task of tracking circular trajectories with different radii in eddy region. The simulation results prove that the control method can satisfy the formation of gliders on the circular trajectories and provide an efficient approach to formation control for team observation and sampling task in ocean mesoscale eddy region.

Key words： underwater glider ocean mesoscale eddy cooperative control energy function

收稿日期: 2017-05-08 录用日期: 2017-09-30

TP242.6

基金资助:国家自然科学基金（61233013，41376110）；国家重点研发计划（2016YFC0301200，2016YFC0300801）

通讯作者: 俞建成,yjc@sia.cn E-mail: yjc@sia.cn

作者简介: 赵文涛(1989-),男,博士生.研究领域:水下滑翔机控制,多机器人队形控制,海洋特征自主观测;
俞建成(1976-),男,博士,研究员.研究领域:新概念水下机器人技术与系统,移动自主海洋环境观测理论与技术,水下机器人智能控制方法与技术;
张艾群(1959-),男,研究员.研究领域:水下机器人总体技术,特种水下机器人,深海及极端环境下水下机器人.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170298 或 https://robot.sia.cn/CN/Y2018/V40/I2/206

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