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中文摘要：
针对多水下无人航行器（UUV）抵近海底的目标搜寻任务,提出了面向目标搜寻的多UUV协调编队控制方法;首先,控制UUV编队进行地形跟踪,实现对海底环境的大面积扫描;在声呐探测到可疑目标后,UUV开始下潜并进行队形收缩进而实现目标的精确定位;在设计控制方法过程中,提出了分散式控制策略,将单个UUV的路径跟踪控制问题与多UUV间的协调问题解耦;其中,利用基于反演的自适应滑模控制算法设计单个UUV路径跟踪控制器,使得路径跟踪误差E（t）渐进趋于无穷小;并将基于虚拟领航者的改进人工势场法引入多UUV编队协调过程,通过控制虚拟领航者的运动间接控制整个编队的运动,实现编队稳定;通过仿真实验验证了文中所提出方法能够控制多UUV实现抵近海底的目标搜寻任务。
英文摘要：
A multi--UUV coordination formation control method for object searching is present in this paper. The contour tracking by formation of multi--UUV is implemented to scan the seabed in large--scale. After a suspicious object is found, UUV will be submerged with the formation contracted to obtain the exact position of the object. The decentralized control strategy is proposed to decouple path tracking for a single UUV and coordination for multi--UUV. To guarantee tracking errors E （t） converge to zero, the inversion based adaptive sliding mode control is included. And the virtual leader based artificial potential field method is introduced with entire multi--UUV formation con- trolled indirectly by the control of virtual leader to achieve the stability among the formation. The simulation verifies the validation of the method proposed to control multi--UUV coordination and implement the object searching.
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