摘要
基于有限时间同步理论,研究了无人艇集结控制问题。首先以无人艇的运动模型为基础,构造了无人艇集结控制模型,将集结问题转化成全局有限时间同步问题;然后证明了在广义线性反馈控制下,主从无人艇集结(同步)的判据,并给出了集结(同步)时间的估计表达式;最后,通过数值实例验证了所得判据的有效性。
Based on the finite-time synchronization theory, the problem to the rendezvous control of the un- manned vessels was studied. Firstly, on the basis of the movement model for the unmanned vessel, the control model for the rendezvous of the unmanned vessels was constructed and the rendezvous control prob- lem was then transformed to the global finite-time synchronization one. Subsequently, the rendezvous （synchronization） criteria for the master and slave unmanned vessels under the generalized linear feedback control were verified and the corresponding estimations for the rendezvous （synchronization） time were ob- tained. Finally, a numerical example was provided to verify the effectiveness of the obtained criteria.
出处
《四川兵工学报》
CAS
2015年第10期154-160,共7页
Journal of Sichuan Ordnance
关键词
有限时间同步
同步时间
无人艇
集结控制
广义线性反馈控制
finite-time synchronization
synchronization time
unmanned vessel
rendezvous control
the generalized linear feedback control
