基于状态反馈控制器的多无人水面船集群控制  

Swarm control for multiple unmanned surface vehicles system based on state feedback controller

作　　者：夏国清 孙显信 任哲达 XIA Guo-qing;SUN Xian-xin;REN Zhe-da(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《控制与决策》2023年第7期2028-2034,共7页Control and Decision

基　　金：第七代超深水钻井装置创新项目;国家自然科学基金项目(51879049).

摘　　要：研究在时变环境干扰和输入饱和约束条件下,基于状态反馈控制器的多无人水面船集群控制.首先,为了准确地估计时变的海洋环境干扰,提出一种有限时间干扰观测器;然后,为了处理执行机构的物理约束,采用一种辅助动态系统;最后,为了实现多无人水面船集群控制,设计一种状态反馈控制器.采用李雅普诺夫方法证明了系统的稳定性,仿真结果验证了所设计的状态反馈控制器的有效性.In this paper,swarm control for multiple unmanned surface vehicles subject to time-varying environmental disturbances and input saturation based on state feedback controllers is studied.Firstly,to accurately measure the environmental disturbances,a finite-time disturbance observer is proposed.Then,to solve the actuator saturation,an auxiliary dynamic system is introduced.Furthermore,a state feedback controller is designed for each USV to realize the swarm control of multiple unmanned surface vehicles.The stability of the system is proved using the Lyapunov method.The effectiveness of the proposed controller is verified via simulation results.

关 键 词：多无人水面船系统 集群控制 时变环境干扰 输入饱和 状态反馈控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]