摘要
对量化和噪声约束条件下多Lagrange航行体编队的跟踪控制进行了研究,提出了一种右边不连续的非线性控制算法。同时,利用微分包含理论、图论以及矩阵理论,对控制器的稳定性进行了验证。研究结果表明:多Lagrange航行体编队可以在量化和噪声影响的有向通信图下,达到有误差界的跟踪。最后,运用三自由度的无人水下航行器进行数值仿真,证明了该控制算法的有效性。
The tracking control for the Lagrange network systems via quantized data exchange and noises is investigated.A nonlinear and discontinuous right-hand side control algorithm is presented.Meanwhile,the stability of controller is studied by means of the differential inclusion theory,the graph,and the matrix theory.A criterion for the tracking with error bound is rigorously proven in a directed graph.At last,a numerical example for 3-DOF UUVs verifies the effectiveness of the control algorithm.
作者
王怀龙
吴晓锋
陈云
吴泽伟
WANG Huai-long WU Xiao-feng CHEN Yun WU Ze-wei(College of Electronic Engineering, Naval Univ. of Engineering, Wuhan 430033, China School of Mathematics and Statistics, Minnan Normal Univ., Zhangzhou 363000, China Dept. of Information Security, Naval Univ. of Engineering, Wuhan 430033, China Dept. of Marine, Guangzhou Navy Academy, Guangzhou 510430, China)
出处
《海军工程大学学报》
CAS
北大核心
2016年第5期51-56,共6页
Journal of Naval University of Engineering
基金
国家自然科学基金资助项目(11202239
61074012)
中国博士后科学基金资助项目(2012M521890)
