多自主水下航行器的有限时间无碰撞协调控制方法

袁健，张文霞，周忠海

Finite-time collision-free coordination control approach for autonomous underwater vehicles

YUAN Jian, ZHANG Wen-Xia, ZHOU Zhong-Hai

J4 . 2012, (3): 103 -107 . DOI: 10.3976/j.issn.1002-4026.2012.03.022