摘要
针对仅邻近多无人水面船(Unmanned Surface Vessel, USV)在无向连通通信拓扑结构下,USV协调轨迹跟踪控制问题,提出一种基于领航者跟随协调策略的分布式自适应连续跟踪控制算法。通过引入虚拟领航者,假设其已知期望轨迹和期望速度,利用跟随者的队形位置跟踪误差和速度跟踪误差构造聚合跟踪误差。进而基于协调跟踪控制系统的聚合跟踪误差系统模型,使用自适应项补偿外界环境的干扰,结合边界层理论提出分布式自适应连续协调跟踪控制算法以提高系统的鲁棒性。通过Lyapunov稳定性理论证明了聚合跟踪误差的收敛性,所有USV的位置跟踪误差和速度跟踪误差有界并趋于一致,仿真验证了该算法的有效性。
In order to solve the problem of coordinated trajectory tracking control for multiple unmanned surface vessels(USVs)in directionless connected communication topology where only adjacent USVs can communicate,distributed adaptive continuous tracking control algorithm based on leader following coordination strategy is proposed.By introduring virtual leader and assuming that only the desired trajectory and desired velocity are known to the virtual leader,the aggregated tracking error is constructed by using the position tracking error and speed tracking error of the followers.Then,based on the aggregated tracking error system model of coordinated tracking control system,the adaptive term is designed to compensate for external environmental disturbances,and distributed adaptive continuous coordinated tracking control algorithm which can improve the robustness of the coordinated tracking control system is proposed by using the boundary layer theory.Finally,the convergence of the aggregated tracking error is proved by Lyapunov stability theory,and the position tracking error and velocity tracking error of all USVs are bounded and tend to be consistent.The simulation results show that the proposed algorithm is effective.
作者
张爱华
宋季强
张洁
杨凌耀
ZHANG Aihua;SONG Jiqiang;ZHANG Jie;YANG Lingyao(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Jiangsu Dafeng Secondary Vocational School,Yancheng 224100,China)
出处
《测控技术》
2023年第10期82-88,共7页
Measurement & Control Technology
基金
上海市大型构件智能制造机器人技术协同创新中心开放基金(ZXP20211101)
国家自然科学基金(51905331)。
关键词
聚合跟踪误差
自适应连续控制
协调跟踪
分布式控制
边界层理论
aggregated tracking errors
adaptive continuous control
coordination tracking
distributed control
boundary layer theory
