多欠驱动自主水面船的鲁棒协调控制器设计

A robust coordination-control design for multiple underactuated autonomous surface vehicles

针对基于海洋环境干扰与水动力参数摄动的多欠驱动自主水面船(autonomous surface vehicles,ASV)协调编队控制问题,本文设计了一种基于上下界终端滑模的鲁棒协调编队控制策略。在运动学回路中,利用单个ASV自身状态信息及其邻居信息,结合图论知识、Lyapunov稳定性理论以及约束函数特性,设计一种纵向速度与艏向转速的辅助控制律,实现了单个ASV跟踪其期望轨迹并与其邻居船体保持协调一致;在动力学回路中,基于终端滑模设计纵向与艏向控制律,使得纵向与艏向速度趋近于其辅助控制律;利用时变非线性级联稳定性理论证明了整个编队闭环控制系统全局一致渐进稳定(globally uniformly asymptotically stable,GUAS);此外,研究了基于通信延时下的多欠驱动ASV轨迹协调控制问题。从仿真实验可以看出距离跟踪误差与艏向角跟踪误差均收敛于零附近的邻域。

This study considers the robust cooperative formation control problem for multiple underactuated autono- mous surface vehicles （ASV） subject to external ocean disturbances and hydrodynamic term uncertainties in three de- grees of freedom and proposes a robust-cooperative-control-based terminal sliding mode. In the kinematic design,, the auxiliary laws of the surge and yaw velocities for an ASV were proposed based on the ASVs own states and the in- formation of the neighboring ASVs. In the kinematic loop, using a single ASV its state information and neighbor infor- mation, combined with the knowledge of graph theory, Lyapunov stability theory and constraint function characteris- tics, the auxiliary control laws of the surge speeds and the yaw speed were designed to asymptotically converge ASVs to their own desired trajectories and synchronize them with the trajectories of the neighboring vehicles in the team. In the dynamic design, the real surge and yaw controllers were proposed based on the terminal sliding mode to ensure that the velocities approach the auxiliary laws of control. Finally, the global stability of the closed-loop system was analyzed in detail using the theory of time-varying nonlinear cascaded systems. The proposed robust coordination con- trollers can guarantee that all the tracking error signals of the overall closed-loop systems are globally, uniformly, and asymptotically stable （GUAS） under external disturbances. Moreover, in this study, the cases wherein ASVs are sub- jected to communication delays were considered. Finally, the performance and robustness of the proposed results were validated via simulation experiments in three cases. Finally, from the simulation experiment, it can be seen that the distance tracking error and the yaw angle tracking error converge to the neighborhood of zero.