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              干擾條件下無人艇編隊有限時間同步控制

              王端松 李東禹 梁曉玲

              王端松, 李東禹, 梁曉玲. 干擾條件下無人艇編隊有限時間同步控制. 自動化學報, 2024, 50(5): 1047?1058 doi: 10.16383/j.aas.c230550
              引用本文: 王端松, 李東禹, 梁曉玲. 干擾條件下無人艇編隊有限時間同步控制. 自動化學報, 2024, 50(5): 1047?1058 doi: 10.16383/j.aas.c230550
              Wang Duan-Song, Li Dong-Yu, Liang Xiao-Ling. Finite time synchronized formation control of unmanned surface vehicles with external disturbances. Acta Automatica Sinica, 2024, 50(5): 1047?1058 doi: 10.16383/j.aas.c230550
              Citation: Wang Duan-Song, Li Dong-Yu, Liang Xiao-Ling. Finite time synchronized formation control of unmanned surface vehicles with external disturbances. Acta Automatica Sinica, 2024, 50(5): 1047?1058 doi: 10.16383/j.aas.c230550

              干擾條件下無人艇編隊有限時間同步控制

              doi: 10.16383/j.aas.c230550
              基金項目: 國家自然科學基金(62103028, 52301417), 皖西學院科研啟動基金(WGKQ2022050), 浙江省自然科學基金(LGG22F030018)資助
              詳細信息
                作者簡介:

                王端松:皖西學院高級工程師. 2020年獲得哈爾濱工程大學博士學位. 主要研究方向為智能船舶編隊控制, 農業智能裝備控制技術. E-mail: dswangsd@126.com

                李東禹:北京航空航天大學副教授. 2019年獲得哈爾濱工業大學博士學位. 主要研究方向為航天器集群協同, 空間態勢感知和星座組網安全. 本文通信作者. E-mail: dongyuli@buaa.edu.cn

                梁曉玲:大連海事大學講師. 2015年獲得哈爾濱工業大學博士學位. 主要研究方向為船舶制導與智能控制技術. E-mail: lxldmu2016@163.com

              Finite Time Synchronized Formation Control of Unmanned Surface Vehicles With External Disturbances

              Funds: Supported by National Natural Science Foundation of China (62103028, 52301417), Startup Fund for Distinguished Scholars of West Anhui University (WGKQ2022050), and Natural Science Foundation of Zhejiang Province (LGG22F030018)
              More Information
                Author Bio:

                WANG Duan-Song Senior engineer at West Anhui University. He received his Ph.D. degree from Harbin Engineering University in 2020. His research interest covers intelligent ship formation control and agricultural intelligent equipment control technology

                LI Dong-Yu Associate professor at Beihang University. He received his Ph.D. degree from Harbin Institute of Technology in 2019. His research interest covers spacecraft cluster collaboration, space situational awareness, and constellation networking security. Corresponding author of this paper

                LIANG Xiao-Ling Lecturer at Dalian Maritime University. She received her Ph.D. degree from Harbin Institute of Technology in 2015. Her research interest covers guidance and intelligent control technology for marine vehicles

              • 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.
              • 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  2  無人艇間的通信關系

                Fig.  2  The communication relationship of unmanned surface vehicles

                圖  3  北?東坐標系下編隊運動曲線

                Fig.  3  Formation moving curve in the north-east frame

                圖  4  各無人艇運動速度曲線

                Fig.  4  Velocity curve of unmanned surface vehicles

                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  6  各無人艇的編隊誤差曲線

                Fig.  6  Formation error curve of 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

                圖  12  超螺旋干擾觀測器觀測值與實際值[21]

                Fig.  12  Observe and actual value of the super-twisting disturbance observer proposed[21]

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                        • 收稿日期:  2023-09-04
                        • 錄用日期:  2024-02-07
                        • 網絡出版日期:  2024-03-24
                        • 刊出日期:  2024-05-20

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