基于引导者-跟随者模式的多欠驱动USV分布式控制方法

Distributed control method for multiple under-actuated USVs based on leader-follower mode

针对多欠驱动USV协同控制问题,提出一种基于引导者-跟随者模式的多欠驱动USV分布式控制方法。首先,在引导者仅能与一小部分跟随者进行通信、引导者的行为独立于跟随者且影响所有跟随者行为的假设下,考虑了未知恒定干扰对于每艘USV的影响;然后,设计了分布式控制器,对每个跟随者的输出与引导者的输出进行全局渐近同步,并抵消干扰影响,以达到控制目标。理论分析和仿真实验证明:由于考虑了引导者可以是虚拟也可以是真实USV,该方法既可以用于基于虚拟引导者的单USV控制,也可以用于一个引导者和N个跟随者的编队控制。

In view of the cooperative control of multiple under-actuated USVs, a distributed control multiple under-actuated USVs method based on the leader-follower model had been proposed. Under the assumption that the leader could only communicate with a small number of followers, while the leader′s behavior was independent of the followers and affected the behavior of all followers, the effect of constant unknown interference on each USV was considered. The method controled the output of each follower and the leader output for global asymptotic synchronization by designing a distributed controller, and rejected the influence of interference to achieve the control objective. The theoretical analysis and simulation experiment proved that since the leader can be virtual or real, the method can be used for single USV control based on virtual leader, and also for formation control of one leader and N followers.