执行器故障下多无人艇固定时间协同包围容错控制  

Fixed-time cooperative encircling fault-tolerant control of multiple unmanned surface vehicles with actuator faults

作　　者：杨德智 徐海祥[1,2,3] 余文曌 杜哲[1,2] YANG Dezhi;XU Haixiang;YU Wenzhao;DU Zhe(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;Key Laboratory of High Performance Ship Technology of Ministry of Education,Wuhan University of Technology,Wuhan 430063,China;Sanya Science and Education Innovation Park,Wuhan University of Technology,Sanya 572024,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,武汉430063 [2]武汉理工大学高性能船舶技术教育部重点实验室,武汉430063 [3]武汉理工大学三亚科教创新园,海南三亚572024

出　　处：《大连海事大学学报》2025年第1期21-30,共10页Journal of Dalian Maritime University

基　　金：国家自然科学基金资助项目(52201373);海南省科技计划三亚崖州湾科技城科技创新联合项目(2021CXLH0016)。

摘　　要：针对执行器故障和未知环境扰动下的多无人艇协同包围控制问题,提出一种基于扰动观测器的固定时间滑模容错控制方法。该方法基于分层控制思想,将协同包围系统解耦为制导层与控制层。首先,在制导层设计一种结合漂角观测器的固定时间分布式协同控制律,以实现无人艇等距旋转包围目标;其次,在控制层将执行器故障视为该层受到的扰动,引入固定时间扰动观测器,对执行器故障和未知环境引起的非线性集总扰动进行在线观测,并设计固定时间滑模控制器对其进行补偿,在保证动力学误差快速收敛的同时平滑控制输出;最后,基于Lyapunov函数证明闭环控制系统的稳定性,并通过三艘无人艇的对比仿真,验证了所提方法能够有效减轻执行器故障对协同包围任务的不利影响。A fixed-time sliding mode fault-tolerant control strategy based on a disturbance observer is proposed for the cooperative encirclement control of multiple unmanned surface vehicles(USVs)with actuator faults and unknown environmental disturbances.The method is grounded in the hierarchical control concept,where the cooperative encirclement system is decoupled into a guidance layer and a control layer.Firstly,in the guidance layer,a fixed-time distributed cooperative control law combined with a sideslip angle observer(SO)is designed to achieve equidistant rotation around the target.Secondly,in the control layer,actuator faults are treated as disturbances affecting the layer,and a fixed-time disturbance observer(FxDO)is introduced to observe the nonlinear lumped disturbances caused by actuator faults and unknown environmental factors in real-time.A fixed-time sliding mode controller(FxSMC)is then designed to compensate for these disturbances,ensuring fast convergence of dynamic errors while smoothing the control output.Finally,the stability of the closed-loop control system is proven using the Lyapunov function,and the effectiveness of the proposed method in mitigating the adverse effects of actuator faults on the cooperative encirclement task is validated through a comparative simulation involving three USVs.

关 键 词：无人艇 包围控制 多智能体系统 扰动观测器 容错控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]