基于虚拟领航者的多艘船舶协调路径跟踪控制

Coordinated path following control for multiple surface vessels by using virtual-leader

针对多艘船舶的协调路径跟踪问题,提出了基于虚拟领航者的分布式协调策略.该策略假定一个虚拟体作为领航者,每艘船与该领航者的相对位置作为闭环系统的反馈信息,通过对每艘船进行控制器设计,使多船形成一定的队形,实现协调路径跟踪.同时引入自适应反步法来设计每艘船的控制器,以抵消海流的干扰,增强系统的鲁棒性,并用李雅普诺夫理论证明了所设计控制器的稳定性.最后通过仿真验证了所提出的协调策略和控制方法的有效性.

In order to perform many of complicated tasks in the sea, it is necessary that the surface vessels move collectively as a desired formation. A distributed coordinated control strategy based on virtual leader for multiple surface vessels was proposed. The proposed strategy makes the vessels asymptotically constitute a desired formation so that coordinated path following. The controller for each vessel was designed respectively using the feedback of the relative position between the vessel and the virtual leader. In addition, the controller for each vessel introduced the adaptive hackstepping so as to obtain robustness against constant external disturbances. The formation stability was proved utilizing the Lyapunuv theory. Finally, simulation results show the effectiveness of the proposed coordinated algorithm.