带有输入时延的多无人艇系统固定时间编队控制  

0039Fixed-Time Formation Control for Multi-Unmanned SurfaceVessel Systems with Input Delay

作　　者：李健翔 张文乐 黎明[1,2] LI Jianxiang;ZHANG Wenle;LI Ming(College of Engineering,Ocean University of China,Qingdao 266000,China;Shandong Marine Intelligent EquipmentTechnology Engineering Research Center,Qingdao 266003,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266000 [2]山东省海洋智能装备技术工程研究中心,山东青岛266003

出　　处：《水下无人系统学报》2025年第1期24-36,共13页Journal of Unmanned Undersea Systems

基　　金：山东省重点研发计划(重大科技创新工程)(2023ZLGX04);山东省自然科学基金面上项目(ZR2023MF086)资助。

摘　　要：近年来,固定时间编队控制是多无人艇(USV)系统的研究热点,而输入时延问题是多USV系统固定时间编队过程中亟待解决的关键科学问题之一。鉴于此,在一般的有向交互拓扑结构下,文中针对含有输入时延的多USV系统的固定时间编队控制问题开展了深入研究。首先,应用Artstein约简方法将带有输入时延的多USV系统转化为具有2阶积分形式的含有扰动的控制系统。其次,为了克服系统扰动影响,仅使用USV的相对位置信息,构建固定时间状态观测器对系统状态进行估计。在此基础上,结合反步法,提出了一种分布式固定时间编队控制协议,实现了含有输入时延的多USV系统固定时间编队控制。最后,通过仿真实验验证了所提理论结果的正确性。In recent years,fixed-time formation control has become a major research focus in multi-unmanned surfacevessel(USV)systems.A critical challenge in achieving fixed-time formation in these systems is handling input delays.In viewof this,under a general directed interaction topology,an in-depth study on the fixed-time formation control issues in multi-USV systems with input delays was carried out.Firstly,the Artstein reduction method was applied to transform a multi-USVsystem with input delays into a control system with disturbances in a second-order integral form.To overcome the effect ofdisturbances on the system,a fixed-time state observer was designed to estimate the system state using only the relativeposition information of the USV.On this basis,a distributed fixed-time formation control protocol was proposed incombination with the backstepping method,which realized fixed-time formation control for multi-USV systems with inputdelays.Finally,the correctness of the obtained theoretical results was verified through simulation experiments.

关 键 词：多无人艇系统 固定时间编队控制 状态观测器 输入时延 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] U674.91[交通运输工程—船舶及航道工程]