考虑网络时延和扰动的无人船路径跟踪控制  

Path tracking control of USVs considering network delays and disturbances

作　　者：周杏伟 胡文山[1] 刘国平 雷忠诚 ZHOU Xingwei;HU Wenshan;LIU Guoping;LEI Zhongcheng(School of Electrical Engineering and Automation,Wuhan University,Wuhan 430072,China;Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen 518055,China)

机构地区：[1]武汉大学电气与自动化学院,湖北武汉430072 [2]南方科技大学控制科学技术中心,广东深圳518055

出　　处：《传感器与微系统》2025年第3期67-70,75,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(62173255,62188101,62073247,62103308)。

摘　　要：针对无人船(USVs)在网络时延、数据包丢失和环境扰动条件下的路径跟踪控制问题,提出了一种改进的模型预测控制(MPC)方法,以提升系统的鲁棒性和稳定性。通过在传统运动学模型中引入速度扰动和角速度扰动项,准确反映复杂海洋环境对无人船的运动影响。构建了包含网络时延和数据包丢失的扩展系统模型,将网络不确定性纳入控制器设计中,应用时延补偿策略和鲁棒性设计,提前调整控制输入以抵消网络不确定性的影响。仿真结果显示,所设计控制器在路径跟踪精度上显著优于未考虑时延补偿的控制器,平均跟踪误差降低约70%,最大误差减少约24%。控制系统在应对环境扰动时,表现出较强抵抗力。研究证明了在无人船路径跟踪中,考虑网络和环境不确定性的必要性,为提升无人船在复杂环境中的自主导航能力提供了有效方案。Aiming at the problem of path tracking control of unmanned surface vessels(USVs)under condition of network delays,packet loss,and environmental disturbances,an improved model predictive control(MPC)method is proposed to enhance the robustness and stability of the system.By introducing speed and angular velocity disturbance terms into the conventional kinematic model,the method accurately reflects the impact of complex marine environments on USVs movement.An extended system model incorporating network delay and packet loss is constructed,network uncertainties is integrated into the controller design.Utilizing design of delay compensation strategies and robustness,adjusting control inputs in advance to offset the effects of network uncertainties.Simulation results indicate that the designed controller significantly outperforms the one without delay compensation in path tracking precision,average tracking error is reduced by approximately 70%and maximum error by about 24%.The control system demonstrates strong resilience to environmental disturbances.This study confirms the necessity of addressing network and environmental uncertainties in USVs path tracking and provides an effective solution for enhancing autonomous navigation capabilities in complex environments.

关 键 词：模型预测控制 路径跟踪 无人船 非线性控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U675.73[自动化与计算机技术—控制科学与工程]