基于命令滤波反推方法的水面无人艇容错编队跟踪控制

Fault-tolerant Formation Tracking Control of Unmanned Surface Vehicles Based on Command Filtered Backstepping Approach

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.