基于事件触发的无人艇协调路径跟踪控制

Coordinated Path Tracking Control of Unmanned Boat Based on Event Trigger

针对多无人艇间协调通信时存在时延的问题,研究了在通信时滞下多无人艇沿多条给定路径编队运动的控制器设计问题。首先基于反步自适应法设计了在受到外界干扰时单个无人艇的路径跟踪控制器;然后针对协调通信时存在信息传输变延迟问题,利用Lyapunov直接法与图论解决多无人艇协调问题;最后提出基于事件触发的时延协调控制律,有效地降低了通讯次数。仿真结果验证了该控制器的有效性。

Time delay exists in coordinated communication among USVs.The purpose of this paper is to study USVs coordinat-ed control with time delay in communication for the path tracking of USVs formation.Firstly,the path tracking controller of a single USV is based on the adaptive backstepping method when movement of USV is disturbed by the outside world.Secondly,considering the time-varying delays in communication topology,USVs coordinated controller is based on Lyapunov's direct method and graph theory.Thirdly,an event-triggered delay coordination control law is proposed to reduce the number of communications effectively.Finally,simulation results show the effectiveness of the proposed coordinated algorithm.