有向通信下的任务驱动船舶协同编队控制方法

Task-driven Cooperative Formation Control Algorithm for Vessels under Directed Communication Topology

船舶在实际海事作业时往往需要多艘船舶相互之间协调作业,并且要求能够根据作业需求执行不同的协调任务.本文综合考虑船舶之间的通信需求和多种作业模式下的协同编队任务,提出了一种有向通信拓扑下的任务驱动船舶协同编队控制方法.该方法通过分别设计编队控制器、协调定位控制器、协调跟踪控制器以及各控制器之间的平滑过渡控制器,使得船舶根据不同的作业需求激活相应的协调控制器,并且能保证各控制器之间的平滑过渡,从而实现任务驱动的船舶协同编队控制.最后通过仿真实验验证了所提协调算法的有效性.

In actual maritime operations,a vessel usually needs to coordinate with multiple vessels and perform coordination operations according to different task requirements.Considering the communication requirements of multiple vessels and the cooperative formations with different operation modes,this paper proposes a taskdriven cooperative formation control method under directed communication topology.By separately designing the controllers of formation,coordinated positioning,and coordinated tracking,as well as the smooth transition controller among the above controllers,the proposed method can make the vessel activate the corresponding coordination controller according to different tasks and ensure a smooth transition among the controllers in the meantime such that the task-driven cooperative formation control is finally realized.The effectiveness of the proposed approach is demonstrated by simulation results.