网络环境下基于观测器的无人水面艇航向控制研究

Observer-based Heading Control for Unmanned Surface Vehicles in Network Environments

控制中心-执行器网络通道中存在的网络诱导时延、数据丢包等网络诱导特性以及外部环境干扰均会对无人艇的水面航行产生影响,进而使系统性能显著降低,航向控制系统稳定性受到影响,提出一种基于观测器的无人艇航向控制准则,以使无人艇在既定航向上快速、稳定地航行。在建立基于网络的无人艇航向控制系统模型的基础上,采用Lyapunov稳定性原理和凸分析方法,对能使网络环境下基于观测器的无人水面艇航向控制系统渐进稳定的控制准则进行推导,设计出基于网络的航向控制器和观测器。仿真实验表明了所提出方法以及设计的控制器、观测器具有较好的性能。

An unmanned surface vehicle（ USV） is subject to the influences of the external environment disturbance and network-induced characteristics（ such as network-induced delay and packet loss in the control center-toactuator network channel,which will degrade the performance and the stability of the heading control system. To make the unmanned surface vehicle sail fast and stably,a kind of USV observer-based heading control strategy is proposed. Network-based models for the unmanned surface vehicle subject to the wave-induced disturbance are established. Based on these models,controller design criteria are derived to asymptotically stabilize the USV heading control system by defining a suitable Lyapunov functional and adopting the convex analysis method. The simulation results verify the effectiveness of the proposed control schemes and the designed controllers and observers.