Bearing-Based Robust Formation Tracking Control of Underactuated AUVs With Optimal Parameter Tuning
研究了欠驱动自主水下航行器在考虑执行器约束和未知扰动下的方位编队跟踪控制问题，提出了集成参考速度估计、虚拟速度生成和自适应鲁棒控制器的策略，并采用控制参数化与启发式算法优化控制器增益，实现了收敛性、鲁棒性、可行性和最优性。
This article investigates the control problem of bearing-based formation tracking for underactuated autonomous underwater vehicles (AUVs) considering actuator constraints and unknown disturbances. A leader-follower structure is adopted, where the leaders move with an unknown reference velocity. For the followers, an integrated strategy is proposed, which includes i) a bearing-based control method composed of a reference velocity estimator, a virtual velocity for achieving the desired formation, and an adaptive robust formation controller to track the virtual velocity under disturbances; and ii) a parameter tuning method based on control parameterization approaches and heuristic algorithms. By employing the cascade system theory, asymptotic convergence of errors in the overall system is proved in the presence of unknown disturbances. The tuning method optimizes controller gains to ensure, all while preserving the convergence properties of the closed-loop error system constraint feasibility and performance optimality. As a result, convergence, robustness, feasibility, and optimality are all achieved. Extension to the case where AUVs have sideslip motions in 3-D space is also discussed. Simulation results are presented to demonstrate the effectiveness of the proposed strategy.