极浅海域波浪滑翔器跨介质通信实验

面向海洋立体信息感知中长期环境监测、目标探测、区域预警、跨介质信息中继等领域对极浅海域空海信息链路的需求,考虑极浅海域信道恶劣、潮流复杂、环境噪声严重等困难,采用直接序列扩频结合差分二进制相移键控(DS-DBPSK)的水声调制解调技术,以波浪滑翔器为平台进行水声通信、无线系统设计与整合,构建面向极浅海域水下信息支持的波浪滑翔机跨介质通信链路,并在平均深度 12 m 的厦门港海域开展极浅海域跨介质通信实验,验证了所设计技术方案及系统的有效性。     

Robust leader-follower formation tracking control of multiple underactuated surface vessels

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation.The formation is achieved by the follower to track a virtual target defined relative to the leader.A robust adaptive target tracking law is proposed by using neural network and backstepping techniques.The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces,nonlinear damping,unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning.Based on Lyapunov analysis,the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the control strategy.