基于有限时间同步的无人艇集结控制研究  

Research on Rendezvous Control of Unmanned Vessels Based on Finite-Time Synchronization

作　　者：徐林[1] 陈云[2,3] 桂志芳[1] 刘忠[2] 

机构地区：[1]海军装备研究院,北京100161 [2]海军工程大学电子工程学院,武汉430033 [3]海军工程大学兵器工程系,武汉430033

出　　处：《四川兵工学报》2015年第10期154-160,共7页Journal of Sichuan Ordnance

摘　　要：基于有限时间同步理论,研究了无人艇集结控制问题。首先以无人艇的运动模型为基础,构造了无人艇集结控制模型,将集结问题转化成全局有限时间同步问题;然后证明了在广义线性反馈控制下,主从无人艇集结(同步)的判据,并给出了集结(同步)时间的估计表达式;最后,通过数值实例验证了所得判据的有效性。Based on the finite-time synchronization theory, the problem to the rendezvous control of the un- manned vessels was studied. Firstly, on the basis of the movement model for the unmanned vessel, the control model for the rendezvous of the unmanned vessels was constructed and the rendezvous control prob- lem was then transformed to the global finite-time synchronization one. Subsequently, the rendezvous （synchronization） criteria for the master and slave unmanned vessels under the generalized linear feedback control were verified and the corresponding estimations for the rendezvous （synchronization） time were ob- tained. Finally, a numerical example was provided to verify the effectiveness of the obtained criteria.

关 键 词：有限时间同步 同步时间 无人艇 集结控制 广义线性反馈控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]