带有输入时延的多无人艇系统固定时间编队控制研究

李健翔; 张文乐; 黎明

doi:10.11993/j.issn.2096-3920.2024-0039

带有输入时延的多无人艇系统固定时间编队控制研究

doi: 10.11993/j.issn.2096-3920.2024-0039

李健翔^1,,
张文乐^{1, 2,},
黎明^{1, 2,}

1.
中国海洋大学工程学院, 山东青岛, 26600; 3
2.
山东省海洋智能装备技术工程研究中心, 山东青岛, 266003

基金项目: 山东省重点研发计划(重大科技创新工程)(2023ZLGX04); 山东省自然科学基金面上项目(ZR2023MF086) 资助.

详细信息

作者简介:
李健翔(1999-), 男, 在读硕士, 主要研究方向为海上多无人艇固定时间协同控制

中图分类号: TP181; TP242.6
计量
- 文章访问数: 13
- HTML全文浏览量: 10
- PDF下载量: 0
- 被引次数: 0
出版历程
- 收稿日期: 2024-03-01
- 修回日期: 2024-04-12
- 录用日期: 2024-05-11
- 网络出版日期: 2025-01-20

Fixed-Time Formation Control for Multiple Unmanned Surface Vessel Systems with Input Delay

LI Jianxiang^1
,,
ZHANG Wenle^{1, 2
,},
LI Ming^{1, 2
,}

1.
College of Engineering, Ocean University of China, Qingdao 266000, China
2.
Shandong Marine Intelligent Equipment Technology Engineering Research Center, Qingdao 266000, China

摘要

摘要: 近年来, 固定时间编队控制是多无人艇(USV)系统的研究热点, 而输入时延问题是多USV系统固定时间编队过程中亟待解决的关键科学问题之一。鉴于此, 在一般的有向交互拓扑结构下, 文中针对含有输入时延的多USV系统的固定时间编队控制问题开展了深入研究。首先, 应用Artstein约简方法将带有输入时延的多USV系统转化为具有2阶积分形式的含有扰动的控制系统。其次, 为了克服系统扰动影响, 仅使用USV的相对位置信息, 构建固定时间状态观测器对系统状态进行估计。在此基础上, 结合反步法, 提出了一种分布式固定时间编队控制协议, 实现了含有输入时延的多USV系统的固定时间编队控制。最后, 通过仿真实验验证了所提理论结果的正确性。
- 多无人艇系统 /
- 固定时间编队控制 /
- 状态观测器 /
- 输入时延
Abstract: In recent years, fixed-time formation control is a research hotspot for multi-unmanned surface vessel (USV) systems, and the input delay problem is one of the key scientific issues to be solved in the fixed-time formation process of multi-USV systems. In view of this, under the general directed interaction topology, this paper carries out an in-depth study on the fixed-time formation control problem of multi-USV systems containing input delay. Firstly, the Artstein reduction method is applied to transform a multi-USV system with input time delays into a disturbance-containing control system with a second-order integral form. Secondly, in order to overcome the effect of system disturbances, a fixed-time state observer is constructed to estimate the system state. It is worth mentioning that this state observer uses only the relative position information of the USV. On this basis, a distributed fixed-time formation control protocol is proposed in combination with the backstepping method to realize the fixed-time formation control of multi-USV systems containing input delays. Finally, the correctness of the proposed theoretical results is verified by simulation experiments.
- multi-unmanned surface ves sel systems /
- fixed-time formation control /
- state observer /
- input delay

HTML全文

图 1 USV运动的示意图

Figure 1. Illustration of USV Motion

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图 2 文中技术路线图

Figure 2. The technical line of this paper

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图 3 多USV系统的闭环控制框图

Figure 3. Control framework of the multi-USV system

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图 4 多USV系统的通信拓扑图

Figure 4. The communication topology for multi-USV systems

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图 5 编队过程中每个USV的状态曲线

Figure 5. States for each USV during the formation process

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图 6 编队过程中每个USV的状态曲线(未对系统时延进行任何处理的情况下)

Figure 6. States for each USV during the formation process (without any processing of the delay)

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图 7 多USV系统的直线编队轨迹

Figure 7. Straight line formation trajectory of the multi-USV system

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表 1 USV参数列表$(i = 1, 2, 3, 4, 5)$

Table 1. Parameters of USV$(i = 1, 2, 3, 4, 5)$

参数数值

${m_{i11}}$ 13.0 kg
${m_{i22}}$ 23.3 kg
${m_{i33}}$ 1.3 kg
${d_{i11}}$ 6.0 N
${d_{i22}}$ 7.1 N
${d_{i33}}$ 0.8 N

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参考文献(37)

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