摘要
研究了具有模型不确定性和执行器故障的多水面无人艇系统的编队跟踪控制问题。通过在线信息交互,为跟随无人艇设计完全分布式观测器以估计期望的位置、航向和速度,并提出命令滤波反推控制协议。该控制协议实现了闭环误差系统的实用指数稳定性及多无人艇系统的编队跟踪。该控制方法的一个优点是不依赖于通信拓扑图Laplacian矩阵的谱信息,使得提出的控制协议能在完全分布式架构下实施。仿真实验验证了该控制协议的有效性。
The formation tracking control problem of multiple unmanned surface vehicles with model uncertainties and actuator faults is studied.A set of fully distributed observers is designed for the following unmanned surface vehicles through online information exchange to es-timate the desired position,course,velocity,and a command-filtered backstepping control protocol is proposed.The results show that the practical exponential stability of closed-loop error systems and the formation tracking of unmanned surface vehicles can be achieved.One ad-vantage of the proposed control method lies in that it does not depend on the spectral information of the Laplacian matrix of the communication topology graph so that the proposed control protocol can be implemented in a fully distributed architecture.Finally,the effectiveness of the proposed control protocol is verified through simulations and experiments.
作者
周艳
温广辉
郑德智
ZHOU Yan;WEN Guanghui;ZHENG Dezhi(School of Cyber Science and Engineering,Southeast University,Nanjing 211189,China;School of Mathematics,Southeast University,Nanjing 211189,China;Advanced Research Institute of Multidisciplinary Science,Beijing Institute of Technology,Beijing 100081,China;State Key Laboratory of CNS/ATM,Beijing Institute of Technology,Beijing 100081,China)
出处
《指挥与控制学报》
CSCD
北大核心
2024年第4期412-419,共8页
Journal of Command and Control
基金
国家自然科学基金(62325304,U22B2046,62073079,61833005,62088101,U22A2009)资助。
关键词
水面无人艇
编队跟踪
命令滤波反推
模型不确定性
执行器故障
unmanned surface vehicles
formation tracking
command filtered backstepping
model uncertainty
actuator fault