Abstract: An adaptive formation control algorithm was proposed for multiple autonomous underwater vehicle systems (MAUVS) based on the coupled phase oscillators model.
摘要:针对多水下机器人编队问题,提出一种基于相位耦合振子模型的自适应控制算法。
Simulation results show the stability of the MAUV adaptive formation control algorithm and its significance in the field of MAUVS formation research and many ocean exploration applications.
仿真结果表明,多水下机器人编队自适应控制算法有较好的稳定性,对于多水下机器人编队研究及多种海洋探测应用具有重要的意义。
A formation keeping and heading consensus controller was designed for MAUVS formation control, referencing the artificial potential algorithm and phase consensus algorithm of coupled oscillators.
根据人工势场法和振子相位一致性算法,设计了多水下机器人队形保持和艏向一致的编队控制算法。
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