信息受限条件下多自主水下航行器三维运动目标围捕控制方法OA

The three-dimensional encirclement control problem of a moving target was investigated by multiple autonomous underwater vehicles(AUVs)under limited information conditions,where absolute position information was unavailable and some AUVs cannot continuously obtain target measurements due to sensing constraints.To achieve close-range omnidirectional monitoring of the target,a distributed relative position-velocity estimator was firstly developed over a directed ring communication topology,enabling AUVs without direct target observations to estimate the target state through local information exchange.Subsequently,a virtual auxiliary system was constructed by taking the target motion direction as the virtual encirclement axis,thereby generating a three-dimensional spherical encirclement formation.Based on the estimated relative states,a kinematic encirclement controller using only local relative position information was designed,and a velocity tracking controller was further developed by incorporating the AUV dynamic model.Stability analysis showed that the local tracking errors converged exponentially under ideal conditions,while the closed-loop system remained ultimately bounded in the presence of target motion disturbances and estimation errors.Simulation results demonstrated that the proposed method enabled multiple AUVs to form and maintain a stable three-dimensional spherical encirclement formation under both complete and partial target information scenarios.Moreover,when target information was partially unavailable,the relative position-velocity estimation errors rapidly converged to a neighborhood of zero,and both the encirclement radius and separation angles approached their desired values.The proposed framework provided an effective solution for three-dimensional moving-target encirclement under limited information conditions,featuring an integrated design of distributed target-state estimation and spherical encirclement control without relying on absolute position information.