基于非线性干扰观测器的船舶编队控制方法

A ship formation control method using a nonlinear disturbance observer

考虑海上随机时变环境干扰,针对基于有向、时不变通信网络相联的多动力定位船设计编队控制器。本文提出一种非线性干扰观测器的设计方法来估计不确定环境干扰,证明所设计观测器的干扰估计误差能在有限时间内收敛。根据船舶编队的通信拓扑,运用反步法设计分布式控制器来补偿环境干扰、实现编队精确控制;在设计中引入响应速度函数,以保证动力定位船在预设时间内的跟踪性能;并根据李雅普诺夫理论证明完整闭环动态系统的稳定性。仿真结果表明:本文设计的船舶编队控制器响应指令快速准确,且有良好的鲁棒性。

To consider random time-varying environmental interferences at sea,a formation controller was designed to dynamically position multiple ships in a directed and time-invariant communication network.First,a nonlinear disturbance observer design method was proposed to estimate uncertain environmental disturbances at sea in real time.The disturbance estimation error from the designed observer converged in finite time.Next,according to the communication topology of the formation,the distributed controllers were designed using a backstepping method to compensate for environmental interference and for accurate formation control.A response speed function was introduced into the control design to ensure the tracking performance of these ships within the default time.The stability of the whole closed-loop dynamic system was demonstrated using Lyapunov theory.The designed controller responded to commands rapidly,accurately,and robustly.