【Paper】2022_Adaptive Formation Control of Unmanned Underwater Vehicles with Collision Avoidance unde
Yan Z, Jiang A, Lai C. Adaptive Formation Control of Unmanned Underwater Vehicles with Collision Avoidance under Unknown Disturbances[J]. Journal of Marine Science and Engineering, 2022, 10(4): 516.
文章目录
- 1. Introduction
- 2. Preliminaries and Problem Formulation
- 2.1. Feedback linearization of UUV model
- 2.2. Graph theory
- 2.3. Artificial potential field
- 3. Adaptive Formation Control Scheme Design
- 3.1. Adaptive sliding mode disturbance observer design
- 3.2. Adaptive formation control with collision avoidance under unknown disturbance
- 4. Experimental Results and Simulation
- 4.1. Distrubance observer simulation result
- 4.2. Collision Avoidance Simulation Result
1. Introduction
2. Preliminaries and Problem Formulation
2.1. Feedback linearization of UUV model
UUV的模型为
η˙=J(η)vMv˙=τˉ+ωˉ−D(v)v−C(v)(1)\begin{aligned} \dot{\eta} &= J(\eta) v \\ M \dot{v} &= \bar{\tau} + \bar{\omega} - D(v) v - C(v) \end{aligned} \tag{1}η˙Mv˙=J(η)v=τˉ+ωˉ−D(v)v−C(v)(1)
其中
η=[xyzθψ]\eta = \left[\begin{matrix} x & y & z & \theta & \psi \end{matrix}\right]η=[xyzθψ],
v=[uvwqr]v = \left[\begin{matrix} u & v & w & q & r \end{matrix}\right]v=[uvwqr]。
线性简化后的UUV模型为
p˙i=viv˙i=τi+ω(4)\begin{aligned} \dot{p}_i &= v_i \\ \dot{v}_i &= \tau_i + \omega \end{aligned} \tag{4}p˙iv˙i=vi=τi+ω(4)
其中
pi=[xiyiziθiψi]p_i = \left[\begin{matrix} x_i & y_i & z_i & \theta_i & \psi_i \end{matrix}\right]pi=[xiyiziθiψi],
vi=[uiviwiqiri]v_i = \left[\begin{matrix} u_i & v_i & w_i & q_i & r_i \end{matrix}\right]vi=[uiviwiqiri],
τi\tau_iτi 是控制输入,
ω\omegaω 是未知干扰。
假设存在了一个虚拟领航者
p˙l=vlv˙l=gl(t)(5)\begin{aligned} \dot{p}_l &= v_l \\ \dot{v}_l &= g_l(t) \end{aligned} \tag{5}p˙lv˙l=vl=gl(t)(5)
误差变量为
epi=pi−pl−εievi=vi−vl(6)\begin{aligned} e_{pi} &= p_i - p_l - \varepsilon_i \\ e_{vi} &= v_i - v_l \end{aligned} \tag{6}epievi=pi−pl−εi=vi−vl(6)
其中
εi\varepsilon_iεi 表示与虚拟领航者之间的期望距离。
2.2. Graph theory
2.3. Artificial potential field
与传统的人工势场法类似,有安全距离 rsr_srs,碰撞距离 rcr_crc,两个UUV之间的距离为 ∥dij∥\|d_ij\|∥dij∥。
当 ∥dij∥>rs\|d_{ij}\| > r_s∥dij∥>rs,安全,
当 rs≥∥dij∥>2rcr_s \ge\|d_{ij}\| > 2r_crs≥∥dij∥>2rc,需要避障函数,
当 2rc≥∥dij∥2 r_c \ge\|d_{ij}\|2rc≥∥dij∥,撞上了。
因此,为了保证别撞上,有人工势场函数 δij(d)\delta_{ij}(d)δij(d) 和动作函数 ς(d)\varsigma (d)ς(d) 定义如下
δij(d)=∫rsdς(s)dsς(d)={−βˉid2,d∈(2rc,rs)0,d∈[rs,∞)(8-9)\begin{aligned} \delta_{ij}(d) &= \int_{r_s}^{d} \varsigma(s) \text{d}s \\ \varsigma(d) &= \left\{\begin{aligned} &-\frac{\bar{\beta}_i}{d^2}, & d \in (2r_c, r_s) \\ & 0 , & d \in [r_s, \infty) \end{aligned}\right. \end{aligned} \tag{8-9}δij(d)ς(d)=∫rsdς(s)ds=⎩⎨⎧−d2βˉi,0,d∈(2rc,rs)d∈[rs,∞)(8-9)
其中 βˉi\bar{\beta}_iβˉi 是一个设计参数。
斥力为
τica=βi∑j∈Nic−∇xiδij(d)=−βi∑j∈Nicς(∥dij∥)dij∥dij∥(10)\begin{aligned} \tau_{i}^{ca} &= \beta_i \sum_{j \in N_i^c} - \nabla_{x_i} \delta_{ij}(d) \\ &= -\beta_i \sum_{j \in N_i^c} \varsigma(\|d_{ij}\|) \frac{d_{ij}}{\|d_{ij}\|} \end{aligned} \tag{10}τica=βij∈Nic∑−∇xiδij(d)=−βij∈Nic∑ς(∥dij∥)∥dij∥dij(10)
3. Adaptive Formation Control Scheme Design
3.1. Adaptive sliding mode disturbance observer design
由于干扰 ω\omegaω 是非线性且未知的,因此我们先想办法估算出来这个干扰。这里我们使用滑模的方法。
给定一个辅助状态估计误差 e0e_0e0
eo=z−v(13)\begin{aligned} e_o = z - v \\ \end{aligned} \tag{13}eo=z−v(13)
其中
zzz 是辅助状态向量,满足下述动态变化。
z˙=τ+vs(14)\begin{aligned} \dot{z} = \tau + v_s \\ \end{aligned} \tag{14}z˙=τ+vs(14)
其中
vsv_svs 是待设计的切换项。
将式 (4) (14) 代入到式 (13) 的微分中,有
e˙o=z˙−v˙=τ+vs−(τ+ω)=vs−ω(15)\begin{aligned} \dot{e}_o &= \dot{z} - \dot{v} \\ &= \tau + v_s - ( \tau+\omega ) \\ &= v_s - \omega \end{aligned} \tag{15}e˙o=z˙−v˙=τ+vs−(τ+ω)=vs−ω(15)
为了保证误差变为0,我们设计如下切换项
vs=−Λ1eo−Λeomn−Ksgn(eo)(16)\begin{aligned} \blue{ v_s = -\Lambda_1 e_o - \Lambda e_o ^{\frac{m}{n}} - K \text{sgn}(e_o) \\ } \end{aligned} \tag{16}vs=−Λ1eo−Λeonm−Ksgn(eo)(16)
3.2. Adaptive formation control with collision avoidance under unknown disturbance
编队控制方案为
τif=−μ1∑j∈Niaij(epi−epj)−μ2∑j∈Niaij(evi−evj)−θi(c1epi+c2evi)−vs(23)\begin{aligned} \tau_i^f = -\mu_1 \sum_{j \in N_i} a_{ij} (e_{pi} - e_{pj}) - \mu_2 \sum_{j \in N_i} a_{ij} (e_{vi} - e_{vj}) - \theta_i (c_1 e_{pi} + c_2 e_{vi}) - v_s \\ \end{aligned} \tag{23}τif=−μ1j∈Ni∑aij(epi−epj)−μ2j∈Ni∑aij(evi−evj)−θi(c1epi+c2evi)−vs(23)
τi=τif+τica(24)\begin{aligned} \tau_i = \tau_i^f + \tau_i^{ca} \\ \end{aligned} \tag{24}τi=τif+τica(24)
4. Experimental Results and Simulation
4.1. Distrubance observer simulation result
首先实现了利用滑模估计干扰的控制器,效果如下图,对应自写程序 Main_2022_Disturbance.m
调节一下时间长度,得到和论文中一致的干扰观测图
接下来取消滑模估计干扰时,在控制器下的效果如下图,对应自写程序 Main_2022.m
4.2. Collision Avoidance Simulation Result
以下讨论均基于程序代码 Main_2022_Disturbance_APF.m
关于使用人工势场函数的方法,最核心的图就是论文中的图7,也就是下图。
但是论文中没有给出对应的安全距离的碰撞距离,因此我自己假设了一下,而且这两个距离是可以修改的,如下所以。
需要程序请找本人的 WeChat:Zhao-Jichao
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