无人艇全分布式动态事件触发编队控制  

Fully distributed dynamic event-triggered formation control formultiple unmanned surface vehicles

作　　者：黄兵 肖云飞 冯元 于秀萍[2] HUANG Bing;XIAO Yun-fei;FENG Yuan;YU Xiu-ping(Department of Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin Heilongjiang 150001,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin Heilongjiang 150001,China)

机构地区：[1]哈尔滨工程大学水下机器人技术国防科技重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2023年第8期1479-1487,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(51409059)资助。

摘　　要：针对通信资源受限的多无人艇(USV)编队控制问题,本文提出了一种动态事件触发数据传输机制以降低通信频率,减少控制算法对系统带宽的占用.首先,基于滑模和自适应控制算法设计一种全分布式编队控制器,使得所有编队成员在保持预设队形的同时能够完成对期望轨迹的跟踪.与现有编队控制器相比,该控制器不需要通信网络的全局信息.然后,基于Lyapunov稳定性理论证明了编队跟踪误差以及所有闭环信号都能达到稳定状态.此外,该算法能够保证触发时间序列不表现出Zeno行为.最后,通过数值仿真验证了全分布式编队控制器的有效性.This paper investigates the problem of fully distributed dynamic event-triggered formation control for multiple unmanned surface vehicles(USV)based on the sliding mode and adaptive control algorithm.Firstly,under the condition of limited communication resources,a novel dynamic event-triggered data transmission mechanism is proposed to reduce the communication frequency and bandwidth occupation.Compared with existing formation controllers,the controller does not require global information of the communication network.Then,a fully distributed formation controller is designed,which can make the tracking errors of multiple unmanned surface vehicles converge to a small region near the origin and all closed-loop signals reach a stable state even without knowing the relative speed information.Moreover,it is proved that the triggering time sequences do not exhibit Zeno behaviour under the proposed formation control algorithm.Finally,numerical simulation is performed to verify the effectiveness of the proposed distributed formation controller.

关 键 词：无人艇编队 全分布式 动态事件触发 协同跟踪控制 自适应控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]