中文摘要：

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。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。考虑建模误差,采用反步法设计了自适应舵角控制律。设计了多水下机器人编队控制的仿真实验,以及多水下机器人进行曲线运动和梳状扫描的仿真试验。仿真结果表明,设计的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。

英文摘要：

An adaptive formation control algorithm was proposed for multiple autonomous underwater vehicle systems （MAUVS ） based on the coupled phase oscillators model. 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. An adaptive rudder controller was designed by using backstepping method with consideration of model errors. Simulation experiments of MAUVS were designed, such as formation control, curve motion, and comb scanning. Simulation results show the stability of the MAUV adaptive formation control algorithm and its sig-nificance in the field of MAUVS formation research and many ocean exploration applications.