多水下作业机器人分布式协同控制基础理论与关键技术研究

The background of this project is the cooperative operation of underwater robot and bionic robotic fish. Taking the stochastic uncertainties caused by complex current environment, multi-path effect, limited bandwidth and channel fading of acoustic communication into consideration, we shall carry out a complete investigation on some fundamental research problems, including dynamic networking and distributed environment sensing, distributed cooperative localization and cooperative control, mechanical design and autonomous operation of underwater robot, etc. Efficient and stable acoustic communication link control scheme and progressive enhancement based global environment modelling are proposed to effectively describe the entire operation environment. A filter and consensus protocol design method under many kinds of uncertain information is proposed in order to solve the cooperative localization and cooperative control problems under stochastic disturbances. A flexible fin based biotic design method is proposed and the kinematic modelling and optimization of biotic body-robot arm is provided. An autonomous operation strategy of underwater robot based on collaboration of biotic robot body and arm is proposed considering the disturbance of current. With the aid of the development of the operation testbed, the fundamental theories and techniques can be validated. Solid theoretical basis and technology for the cooperative operation in complex environment of multiple underwater robots will be provided by this research. It is of great theoretical and practical value to promote the development of underwater robots.

本项目以水下作业机器人、仿生机器鱼的协同作业为研究背景，充分考虑复杂洋流环境、水声通信的多径性、窄带性、衰落性等带来的各类随机不确定因素，深入研究动态组网与分布式环境感知、分布式协同定位与协同控制、水下作业机器人机构设计与自主作业等基础科学问题。提出高效稳定的水声链路控制方法及渐进增强式全局环境建模方法，解决水下机器人工作空间全局环境的有效描述问题；提出各类不确定信息下滤波器及一致性协议的设计方法，解决随机因素制约下的分布式协同定位与协同控制问题；提出基于柔性波动鳍的仿生机构设计方法，实现仿生本体-机械臂运动学建模与优化，提出不确定扰流下基于仿生本体-机械臂协调的水下作业机器人自主作业方法；通过实际作业平台的开发，对关键基础理论和技术进行实验验证。本项目的研究将为多水下机器人在复杂环境下的协同作业提供坚实的理论基础和技术手段，对促进水下作业机器人的发展具有重要的理论意义和实际价值。

在该项目的资助下，项目负责人与本项目的主要研究人员完成了原定的研究计划。乘性噪声随机性是水下机器人控制系统最典型的特性之一， 其源于信号水下传输的衰减所导致；另外一个显著特性是水下信号传输所导致的传输时滞。本项目针对上述问题，提出了适应的滤波方法，进而提出了多水下机器人的分布式系统定位方法。解决了多水下机器人在不同衰减信道下的一致性问题，提出了一致性协议的设计方法及存在性条件。提出了一种基于相对估计状态的一致性协议设计方法，揭示了多水下机器人一致性误差界与噪声统计特性和衰落因子之间的关系。在作业层面，本项目从水下仿生移动作业机器人机构设计与优化、仿生推进机理分析、基于仿生本体-臂协调控制的自主作业控制、自主运动控制、水下目标的跟踪控制等方面开展了系列研究，给出了波动鳍推进水下机器人的机构设计方案及建模分析；提出了一种基于非奇异终端滑模的仿生本体与臂协调控制方法，实现了水下机器人悬浮状态下的自主开门与目标自主抓取。

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