Finite Time Synchronized Formation Control of Unmanned Surface Vehicles With External Disturbances
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摘要: 針對有限時間控制中各狀態分量收斂時間不同問題, 提出一種無人艇編隊有限時間同步控制框架, 在此框架下設計的有限時間同步編隊控制方法可巧妙地達到無人艇所有自由度編隊誤差在同一時刻收斂到平衡點. 首先, 針對現有干擾觀測器與時間同步穩定框架不兼容問題, 設計有限時間同步干擾觀測器; 然后, 利用比例保持特性設計有限時間同步編隊控制器, 并驗證了所提控制方法的穩定性; 最后, 通過3艘無人艇編隊進行仿真實驗, 實驗結果驗證了所提控制方法的有效性和優越性. 所提控制方法對有限時間同步控制需求的航海、航空航天和工業領域具有現實意義.Abstract: A finite time synchronization control framework for unmanned surface vehicles is proposed to address the issue of different convergence times of various states in finite time control. The finite time synchronization formation control method designed under this framework can cleverly achieve that all degrees of freedom errors of unmanned surface vehicles converge to an equilibrium point at the same time. Firstly, to address the issue of incompatibility between existing disturbance observers and time synchronization stabilization frameworks, a finite time synchronization disturbance observer is designed. Furthermore, utilizing the ratio persistence property, a finite time synchronous formation controller is designed, and the stability of the proposed control algorithm is demonstrated. Finally, simulation research was conducted on three unmanned surface vehicles, and the results verified the effectiveness and superiority of the proposed control algorithm. The control method proposed in this article has practical significance for the fields of navigation, aerospace, and industry that require time-synchronous control.
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圖 1 北－東坐標系的無人艇編隊運動曲線
Fig. 1 Unmanned surface vehicles＇ moving curve in the north-east frame
圖 5 各無人艇位置和艏向角變化曲線
Fig. 5 Position and heading variation curve of each unmanned surface vehicles
圖 7 無人艇編隊位姿誤差在同一時刻收斂曲線
Fig. 7 Formation position and attitude-error convergence curve of all degrees of freedom formation errors at the same time
圖 8 跟隨者 1 在 3 個自由度方向的外界環境干擾和模型不確定性實際值與估計值
Fig. 8 Actual and estimated-values of external disturbances and model uncertainties for follower 1 in three degrees of freedom
圖 9 改變初始值編隊位姿誤差收斂曲線
Fig. 9 Formation position and attitude-error convergence curve in the situation of the initial values changed
圖 10 基于符號函數的有限時間非線性滑?？刂凭庩犖蛔苏`差收斂曲線[25]
Fig. 10 Formation position and attitude-error convergence curve of finite time nonlinear sliding mode control error based on sign function[25]
圖 11 線性滑?？刂频木庩犖蛔苏`差收斂曲線
Fig. 11 Formation position and attitude-error convergence curve of linear sliding mode control
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