摘要
考虑含有模型参数不确定及未知海洋扰动的多AUVs协同编队问题,本文提出一种新的控制方法,该方法可保证编队在固定时间内实现.首先,将模型参数不确定及海洋扰动看作复合扰动,设计扰动观测器,实现固定时间内对扰动的精确估计.基于扰动观测器,指令滤波技术、固定时间理论及虚拟轨迹概念,设计编队控制律,实现编队目标,并保证闭环系统中的所有信号是全局固定时间稳定的.最后通过两艘AUV的编队仿真验证了所提算法的有效性.
The paper is concerned with formation control of autonomous underwater vehicles (AUVs) subject to model parameter uncertainties and unknown ocean disturbances, a novel control scheme is developed, by which the formation can be achieved within a fixed time. The ocean disturbance is combined with the model parameter uncertainties as a compound disturbance. Then a disturbance observer (DO) is constructed to estimate the compound disturbance, which can be achieved within the settling time with zero estimation errors. Based on the DO, command filter technique,fixed-time control and virtual trajectory, a formation control law is designed, by which the formation control can be achieved with all the states globally stabilized in a given fiˉxed time. The effectiveness of the proposed control scheme is demonstrated by numerical simulations.
作者
高振宇
郭戈
GAO Zhen-Yu;GUO Ge(School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026;State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110004;School of Control Engineering, Northeastern University Qinhuangdao, Qinhuangdao 066004)
出处
《自动化学报》
EI
CSCD
北大核心
2019年第6期1094-1102,共9页
Acta Automatica Sinica
基金
国家自然科学基金(61573077,U1808205)资助~~
关键词
扰动观测器
编队控制
多AUVs
固定时间控制
虚拟轨迹
Disturbance observer
formation control, multi-AUVs
fixed-time control
virtual trajectory