The Research of Coordination Control on Distributed Multi-Agent

被引：0

作者：

Tao, Mo ^{[1
]}

Li, Xianling ^{[1
]}

Guan, Xiawei ^{[2
]}

Liu, Zhi ^{[2
]}

Feng, Yi ^{[1
]}

Qu, Ruotong ^{[3
]}

机构：

[1] Wuhan Second Ship Design & Res Inst, Sci & Tech Thermal Energy & Power Lab, Wuhan, Hubei, Peoples R China

[2] Wuhan Second Ship Design & Res Inst, Frontier Innovat & Basic Res Dept, Wuhan, Hubei, Peoples R China

[3] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing, Jiangsu, Peoples R China

来源：

PROCEEDINGS 2018 33RD YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC) | 2018年

关键词：

UUV formation; Multi-Agent; Coordinated control; Leader-follower; Anti-step;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Coordination control of multi UUV (unmanned underwater vehicle) navigation is a research focus in the field of Marine engineering. In this paper, the UUV formation control method combining the idea of path reference point and leader follower formation control algorithm is proposed. The formation controller is designed by using the anti-step method and Lyapunov function. The simulation result shows that both the leader and follower UUV can track the expectation path, and the designed controller has robustness under current interference.

引用

页码：328 / 333

页数：6

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