无人艇集结控制模型研究  

On rendezvous control model of unmanned vessels

作　　者：陈云[1] 叶清[1] 周大伟[1] 徐林[2] CHEN Yun YE Qing ZHOU Da-wei XU Lin(Dept. of Information Security, Naval Univ. of Engineering, Wuhan 430033, China Naval Academy of Armament, Beijing 100161, China)

机构地区：[1]海军工程大学信息安全系,武汉430033 [2]海军装备研究院,北京100161

出　　处：《海军工程大学学报》2016年第6期23-27,48,共6页Journal of Naval University of Engineering

基　　金：国家自然科学基金资助项目(11202239);中国博士后科学基金资助项目(2012M521890)

摘　　要：为研究不同位置的无人艇在有限时间内集结的问题,首先将无人艇在有限时间内的集结控制问题转换成无人艇在替代变量反馈控制器下的全局有限时间同步问题,并构造了无人艇集结控制模型;然后,应用有限时间同步理论证明了无人艇集结(同步)的判据并推导了集结(同步)时间的估计表达式;最后,通过数值仿真对所得结果进行了验证,证明了该模型的有效性。In order to investigate the rendezvous of the unmanned vessels distributed in different posi- tions in finite time, the unmanned vessel rendezvous control problem is firstly transformed to the global finite-time synchronization problem under the variable substitution and feedback controller. A model for the unmanned vessel rendezvous control is built up. Then, by applying the finite-time syn- chronization theory, the criteria for the unmanned vessel rendezvous （synchronization） are proved and the estimated expressions for the rendezvous （synchronization） time are deduced. Finally, the effec- tiveness of the obtained results is verified by the numerical simulations.

关 键 词：无人艇 集结控 有限时间同步 替代变量反馈控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]