基于时空解耦的无人艇编队路径跟踪控制

Path Tracking Control of Unmanned Vehicle Formation Based on Space-time Decoupling

针对不同的路径建立编队队形模型.利用时空解耦策略将编队路径跟踪控制问题分解为两个子问题:空间上的路径跟踪和时间上的编队协同.通过计算跟随艇在预定路径上的预期点和无人艇当前位置偏差,设计路径跟踪控制器,保证在空间上运动收敛到各自的期望路径;通过跟随艇与领航艇的速度偏差和首向偏差设计速度协调控制器,使得多无人艇在设定路径上以相同设定速度航行,不影响空间域上的路径跟踪性能.仿真实验中,在多路径点过渡过程考虑编队队形中相对首向和速度的变化,使过渡过程更加平滑.其结果验证了所提出方法的有效性.

A formation model was established for different paths.The space-time decoupling strategy was used to decompose the formation path tracking control problem into two subproblems:path tracking in space and formation cooperation in time.By calculating the expected point of the following boat on the predetermined path and the current position deviation of the unmanned boat,a path tracking controller was designed to ensure that the motion in space converged to the respective expected path.By designing a speed coordination controller through the speed deviation and heading deviation of the following boat and the pilot boat,multiple unmanned boats sail at the same set speed on the set path without affecting the path tracking performance in the space domain.In the simulation experiment,the changes of relative heading and velocity in formation were considered in the multi-path point transition process,which makes the transition process smoother.The results verify the effectiveness of the proposed method.