Abstract: On the premise that the moving-target trajectory can be forecasted, a coordinated formation motion controller is improved based on the mathematical model of the underactuated Unmanned Underwater Vehicle（UUV） to solve high flexibility of Multi-UUV formation structure for moving-target hunting. The aim of the controller is to avoid the collision between UUVs, UUV and obstacle, UUV and moving-target, and keep hunting the moving-target with the stable formation. The controller design process is decomposed into kinematics and dynamics control. In kinematics control part, the control targets of moving-target tracking, collision avoidance between UUVs and yaw angle error to zero are satisfied. In dynamics control part, backstepping is applied to design the actual control input. The simulation shows the validity of the coordinated formation motion controller.

Key words: Multi-Unmanned Underwater Vehicle（UUV）, moving-target hunting, coordinated formation motion controller, backstepping

摘要： 针对动目标围捕过程对Multi-UUV编队结构的灵活性要求较高的问题，基于欠驱动UUV的数学模型，在目标轨迹能够准确预测的前提下，改进了协调编队运动控制器。协调编队运动控制器的控制目标是在Multi-UUV编队跟踪并围捕动目标过程中，避免Multi-UUV之间，UUV与障碍物以及UUV与动目标之间的碰撞并以稳定的编队结构围捕动目标。将控制器设计过程分解为运动学控制和动力学控制。在运动学控制部分，实现动目标跟踪、UUV之间避撞及UUV偏航角误差为零的控制目标。在动力学控制部分，应用反步法设计实际的控制输入。仿真案例验证了协调运动控制器在动目标围捕中的有效性。

关键词: Multi-无人水下航行器（UUV）, 动目标围捕, 协调编队运动控制器, 反步法