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中文摘要：
研究了在三维空间中多UUV的协调路径跟踪控制问题.应用分散控制策略将路径跟踪问题和个体间的速度协调编队解耦.在单个UUV的路径跟踪控制中引入视距导航（line of sight guidance）算法设计路径跟踪控制器,使得跟踪误差渐近收敛到零;引用图论知识设计协调控制器,使得多UUV沿期望路径的位置和速度在规定队形下达到一致,实现多UUV间的协调,而不影响空间域上的路径跟踪性能.
英文摘要：
This paper addresses the problem of multi-UUV along given spatial paths with a given forward speed profile while holding a desired formation pattern in three-dimensional space.The decentralized controller is proposed to realize the coordinated path tracking of multi-UUV.In the path tracking control problem of a single UUV,we introduce line of sight navigation algorithm to design path tracking controller,making the tracking error converges to zero asymptotically;introduce graph theory to design coordination controller,making the multi-UUV reach consensus under the provisions formation along the position of desired path and speed,reaching coordination between multi-UUV,without affecting the path tracking performance in spatial domain.
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