Research On Path Following Control For Muli-UUV Formation

Path following control for multiple unmanned underwater vehicle (UUV) formationis one of the important research topic in Muli-UUV control. With UUV technologydeveloping, Multi-UUV formation control has become increasingly important. While theresearch on path following control for Multi-UUV formation, is not only to promote thedevelopment of UUV control technology, but also to support the technical application ofmarine engineering such as underwater pipeline inspection, topographic mapping etc.Thus research on path following control for Multi-UUV formation has importanttheoretical significance and practical value.With the analysis of path following control problem for Multi-UUV formation,itwill be divided into the UUV path following control problem and the formationcooperative control problem. Use the nonlinear methods to design UUV path followingcontroller. And design formation strategy which is based on the path reference point toachieve the formation cooperative control. The main contents of this article are studied asfollows:First of all, establish the UUV six degrees of freedom kinematic model and dynamicmodel in the fixed coordinate system and the moving coordinate system. With theguarantee of the the UUV main movement characteristics, simplify kinematic model anddynamic model in the horizontal plane. And consider the interference case with seacurrents to establish the kinematics model and dynamics model of UUV. Verify theaccuracy of the the UUV horizontal motion model by a horizontal straight line and steadyrotary movement simulation.Secondly, with considering the path following problem, set known to the desiredpath and introduct the path reference point. In the Serret-Frenet coordinate system,establish UUV path following error model, using the method of combining backsteppingand Lyapunov function to design the UUV path following control law. At the same time,proof the stability of system, and take into account the current disturbance in UUV pathfollowing control law design.In adition, through the summary of the method for formation control, design aformation control method based on the path reference point with combination of thevirtual structure and Leader-following Approach. With UUV eventually converging tothe path of the reference point in the path following and the generalized distance betweenthe reference point of leader UUV and reference point of follower UUV to be zero ultimately, establish the formation strategy. Design path following control law forMulti-UUV formation to complete the final path following controller design forMulti-UUV formation based on the single UUV path following control.Finally, in order to verify the effectiveness of the path following controller forMulti-UUV formation.Show Single UUV path following and Multi-UUV formation pathfollowing simulation of the cosine, linear and circular paths. Analyze and summarize thesimulation results, indicating that the effectiveness of the designed path followingcontrollers for UUV and Multi-UUV formation.