李贺, 王宁, 薛皓原. 水面无人艇领航—跟随固定时间编队控制[J]. 中国舰船研究, 2020, 15(2): 111–118. doi: 10.19693/j.issn.1673-3185.01755
引用本文: 李贺, 王宁, 薛皓原. 水面无人艇领航—跟随固定时间编队控制[J]. 中国舰船研究, 2020, 15(2): 111–118. doi: 10.19693/j.issn.1673-3185.01755
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LI H, WANG N, XUE H Y. Leader-follower fixed-time formation control of unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2020, 15(2): 111–118. doi: 10.19693/j.issn.1673-3185.01755
Citation: LI H, WANG N, XUE H Y. Leader-follower fixed-time formation control of unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2020, 15(2): 111–118. doi: 10.19693/j.issn.1673-3185.01755
shu

水面无人艇领航—跟随固定时间编队控制

Leader-follower fixed-time formation control of unmanned surface vehicles

    摘要
  • 摘要:
      目的  为解决复杂扰动下的领航—跟随水面无人艇（USV）编队控制问题，提出一种固定时间控制（FTC）方法。
      方法  针对跟踪控制子系统，设计一种基于积分滑模的固定时间跟踪控制（IMS-FTC）策略；针对编队控制子系统，设计一种基于有限时间扰动观测器的固定时间编队控制（FDO-FFC）策略；基于 Lyapunov稳定性理论证明所设计的编队控制方法的整体稳定性。
      结果  采用经典CyberShip II试验模型进行仿真研究，结果显示所设计的控制方案能够有效提高领航—跟随USV编队系统的精确性和鲁棒性。
      结论  研究成果可为无人艇编队控制系统设计提供先进的技术手段。

     

    Abstract:
      Objectives   To solve the formation control problem of leader-follower unmanned surface vehicles (USV) under complex environmental disturbances, a fixed-time control (FTC) approach is proposed in this paper.
      Methods  Fixed-time tracking control based on the integral sliding mode (ISM-FTC) approach is designed for the tracking control subsystem, and a finite-time disturbance observer-based fixed-time formation control (FDO-FFC) approach is developed for the formation control subsystem. The overall feasibility of the designed methods is verified via the Lyapunov function.
      Results  The simulation results of a prototype CyberShip II model indicate that the designed scheme can improve the accuracy and robustness of the leader-follower USV formation system.
      Conclusions  The results of this study can provide advanced technical means for USV formation control systems.

     

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