输入饱和下水面舰艇的时变编队控制

Time-Varying Formation Control for Surface Vessels with Input Saturation

在多艘水面舰艇编队控制中,为了弥补较强的不确定性,并降低控制器对系统信号的测量负担,提出水面舰艇编队的时变控制设计方案。首先,通过引入光滑函数来处理饱和约束,同时通过构造含有时变增益的状态变换,将原系统的跟踪控制问题转化为一个新的时变系统的镇定问题。然后,结合向量反推控制设计方法,给出时变反馈控制器的显式形式,保证闭环系统所有信号都有界且所有跟随船以期望的时变编队队形渐近跟踪到领导船。最后,仿真算例验证理论结果的有效性。

In formation control for multiple marine surface vessels,in order to make up serious uncertainties and reduce the burden in signal measurement of controller,a time-varying control scheme is proposed in this paper.First,a smooth function is introduced to deal with the saturation constraint,while a state transformation with a key time-varying gain is introduced to change the tracking of the original system into the stabilization of a time-varying system.Then,by the vector backstepping method,a time-varying feedback controller is explicitly designed which guarantees that all the states of the resulting closed-loop system are bounded while all the follower vessels asymptotically track the leader vessel with an expected time-varying formation pattern.Finally,simulation results are provided to validate the effectiveness of the proposed theoretical results.