面向时变目标协同跟踪的多自主无人船分层有限时间优化调控  

Hierarchical finite-time optimization regulation of multiple autonomous surface vehicles for time-varying target cooperative tracking

作　　者：葛明峰 李一凡 刘智伟[2,3] 谷志威 陈谦 GE Ming-feng;LI Yi-fan;LIU Zhi-wei;GU Zhi-wei;CHEN Qian(School of Mechanical Engineering and Electronic Information,China University of Geosciences,Wuhan 430074,China;School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China;Key Laboratory of Imaging Processing and Intelligent Control of Ministry of Education,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]中国地质大学(武汉)机械与电子信息学院,武汉430074 [2]华中科技大学人工智能与自动化学院,武汉430074 [3]华中科技大学图像信息处理与智能控制教育部重点实验室,武汉430074

出　　处：《控制与决策》2025年第1期279-284,共6页Control and Decision

基　　金：国家自然科学基金项目(62073301,62373162,62233007);湖北省自然科学基金杰出青年科学基金项目(2022CFA052);武汉市知识创新专项-基础研究项目(2023010201010100)。

摘　　要：针对多自主无人船(ASVs)系统的时变多目标协同跟踪问题,提出一种新型分层有限时间优化调控算法.首先,设计一个反映多ASVs系统在跟踪过程中能量消耗的目标函数;然后,开发一个有限时间优化估计器(FTOE),以在ASV形成特定编队的同时遵循期望轨迹的情况下最小化目标函数,目标轨迹是可变的,不恒定的;接着,在有限时间本地控制器(FTLC)中,通过跟踪FTOE,多ASVs系统的航行状态可在有限时间内以最小化目标函数的方式稳定在多个预定的各种时变轨迹附近;最后,给出有限时间稳定性的证明,并计算沉降时间.仿真结果验证了所提出分层算法的有效性.We propose a novel hierarchical finite-time optimization regulation algorithm for multiple autonomous surface vehicles(ASVs)to achieve cooperative tracking of a time-varying target.An objective function reflecting the energy consumption of the multiple ASVs system in the tracking process is designed,and a finite-time optimal estimator(FTOE)is developed to minimize the objective function in the case that ASVs form a specified formation while following the desired trajectory.Meanwhile,the target trajectory can be variable instead of constant.In the finite-time local controller(FTLC),the sailing states of the multiple ASVs system can be stabilized to the vicinity of the multiple various predefined time-varying trajectories in finite time in a way that minimizes the objective function by tracking the FTOE.The proof of the finite-time stability is provided and the settling time is calculated.Finally,simulation results demonstrate the effectiveness of the proposed hierarchical algorithm.

关 键 词：时变参考信号的优化 多目标编队跟踪 多自主无人船(ASVs)系统 有限时间优化控制 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]