多领航者导引无人船集群的分布式时变队形控制

Distributed time-varying formation control for unmanned surface vehicles guided by multiple leaders

[目的]针对含有模型高度不确定性和未知海洋环境扰动的无人船集群,研究多领航者导引的欠驱动无人船(USV)集群的分布式时变队形控制问题。[方法]首先,在运动学层级,基于包含策略和路径操纵原理,设计时变队形分布式制导律;然后,在动力学层级,针对USV航行中存在的模型不确定性以及未知海洋环境扰动,设计基于扩张状态观测器(ESO)的前向速度和艏摇角速度控制律,减小模型不确定性和未知海洋环境扰动带来的影响;最后,进行级联系统稳定性分析和控制器有效性的仿真验证。[结果]研究表明,无人船集群采用的分布式时变编队闭环控制系统输入状态稳定,仿真结果证明了控制方法的有效性。[结论]所提出的控制器可以使无人船集群形成预定的时变编队队形,并跟踪多领航者形成的凸包。

[Objectives]This paper investigates the distributed time-varying formation control of a swarm of under-actuated Unmanned Surface vehicles(USVs) guided by multiple leaders in the presence of complex model uncertainties and unknown ocean disturbances.[Methods]At the kinematic level, distributed timevarying formation guidance laws are designed on the basis of the containment method and path maneuvering principle;at the kinetic level, the surge speed and yaw rate control laws are developed on the basis of the Extended State Observer(ESO) method such that the influences of the model uncertainties and unknown disturbances are mitigated. Further, cascade system stability analysis is undertaken, and the validity of the controller is demonstrated via a simulation. [Results]It shows that the closed-loop distributed time-varying formation control system for USV is input-to-state stable by the cascade system stability theory. The simulation results verify the effectiveness of the control method.[Conclusions]With the proposed controller, USVs are able to achieve the predefined time-varying formation while following the convex combination of multiple leaders.