基于扰动观测器的非奇异模糊滑模无人船编队控制  

Nonsingular Fuzzy Sliding-mode Formation Control of Unmanned Surface Vehicles Based on a Disturbance Observer

作　　者：司金帅 黄海滨 庄宇飞 李亚南 王晨旭[1,2,3] 谢峰 SI Jinshuai;HUANG Haibin;ZHUANG Yufei;LI Yanan;WANG Chenxu;XIE Feng(School of Information Science and Engineering,Harbin Institute of Technology,Weihai 264209,China;Key Laboratory of Cross-Domain Collaboration and Comprehensive Support for Marine Unmanned Systems,Ministry of Industry and Information Technology,Weihai 264209,China;Weihai Key Laboratory of Autonomous Control and Collaborative Technology for Marine unmanned Systems,Weihai 264209,China;Shandong Weihai Shipbuilding Technology Service Center,Weihai 264209,China)

机构地区：[1]哈尔滨工业大学(威海)信息科学与工程学院,山东威海264209 [2]海洋无人系统跨域协同与综合保障工业和信息化部重点实验室,山东威海264209 [3]威海市海洋无人系统自主控制与协同技术重点实验室,山东威海264209 [4]山东省威海船舶技术服务中心,山东威海264209

出　　处：《数字海洋与水下攻防》2023年第6期681-689,共9页Digital Ocean & Underwater Warfare

基　　金：山东省自然科学基金面上项目“海洋立体观测系统中水面无人艇对自主式水下航行器的航迹跟踪控制”(ZR2020ME265);山东省自然科学基金面上项目“博弈框架下多AUV协同一体化水下传感器网络数据回收”(ZR2021ME115);山东省科技型中小企业创新能力提升项目“海洋环境调查与海事测量无人船产业化”(2021TSGC1376);山东省科技型中小企业创新能力提升项目“海洋牧场移动式智能自主立体观测平台产业化”(2023TSGC0668);山东省重点研发计划(2022ZLGX04)。

摘　　要：针对含有模型参数不确定性、外界干扰与抖振现象的无人船编队问题,提出了一种基于扰动观测器的非奇异模糊终端滑模编队控制方法。首先,将领航者–跟随者与人工势场法相结合,获得无人船的编队构型并保证无碰撞现象;其次,基于Lyapunov能量函数设计出模糊控制规则,消除了控制器中的抖振问题;进而,提出了一种扰动观测器来补偿未知动态和外界干扰,增强了系统的鲁棒性和稳定性。通过理论分析和仿真结果验证了所提控制方法的有效性。基于所设计的编队控制方法,无人船最终可形成期望的编队构型。In order to solve formation control problems of model parameter uncertainty,external disturbances and chattering phenomena,a nonsingular fuzzy terminal sliding-mode formation control method based on a disturbance observer is proposed.Firstly,the leader-follower is combined with the artificial potential field method to achieve the formation configuration of unmanned surface vehicles while ensuring collision avoidance.Secondly,fuzzy control rules are designed based on Lyapunov energy function to eliminate chattering phenomena in the controller.Furthermore,a disturbance observer is proposed to compensate for unknown dynamics and external disturbances,which enhances the robustness and stability of the system.The effectiveness of the proposed control method is verified through theoretical analysis and simulation results.Based on the designed formation control method,unmanned surface vehicles ultimately achieve the desired formation configuration.

关 键 词：无人船编队控制 非奇异终端滑模控制 模糊控制规则 扰动观测器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]