摘要
[目的]为解决水面无人艇(USV)编队控制中的实际需求,提出一种具有避碰和连通性保持功能的分布式事件触发编队控制方法。[方法]针对海洋环境扰动和系统模型的不确定性等因素设计扰动观测器;针对编队实现过程中USV间可能发生碰撞和丢失通信连接的问题,基于人工势场函数法设计具有避碰和连通性保持功能的编队控制器;为减少USV控制器的执行频率,设计分布式的事件触发机制,使每个USV根据局部信息来独立决定其控制器的执行时刻。[结果]理论分析证明了编队误差的一致最终有界性,且事件触发机制不存在Zeno行为。仿真结果验证了所设计的控制方法能够显著减少USV控制器更新次数并可实施避碰操作及保持连通性。[结论]研究成果可保证USV编队控制的顺利安全完成,同时减轻USV在复杂海洋环境下的控制机构损耗。
[Objective]In order to realize formation control for multiple unmanned surface vehicles(USVs)subject to practical needs,a distributed event-triggered formation control method for multiple USVs is proposed which is capable of ensuring collision avoidance and connectivity preservation.[Methods]Considering the disturbances caused by marine environments and the uncertainties of system models,a disturbance observer is designed.Aiming to avoid potential collisions and the loss of connectivity among USVs during the process of realizing the desired formations,artificial potential field functions are utilized to design a controller with collision avoidance and connectivity preservation abilities.To reduce the frequency of control updates,a distributed event-triggering mechanism is designed for each USV,enabling it to determine the execution time of its own control input based on local information.[Results]Theoretical analysis proves the uniform ultimate boundedness of formation errors,and the event-triggered mechanism does not display Zeno behaviors.The simulation results validate that the proposed control method can significantly reduce the number of controller updates and prevent collisions among USVs while maintaining their connectivity.[Conclusion]The results of this study can help to ensure the safe formation control of USVs and reduce the wear and tear of control devices.
作者
李建华
胡清伟
刘中常
LI Jianhua;HU Qingwei;LIU Zhongchang(College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China;Swarm Intelligent Control and Decision Lab,Dalian Maritime University,Dalian 116026,China;Shanghai Marine Equipment Research Institute,Shanghai 200031,China)
出处
《中国舰船研究》
CSCD
北大核心
2024年第1期200-210,共11页
Chinese Journal of Ship Research
基金
国家自然科学基金资助项目(61703445)
大连市高层次人才创新支持计划资助项目(2019RQ057)。
关键词
多无人艇系统
编队控制
事件触发控制
避碰
连通性保持
multi-USV system
formation control
event-triggered control
collision avoidance
connectivity preservation
