| 基于采样分布式估计器的多无人艇轨迹跟踪控制 |
| |
| 引用本文： | 胡金波,刘智伟,葛明峰.基于采样分布式估计器的多无人艇轨迹跟踪控制[J].南京气象学院学报,2018,10(4):443-449. |
| |
| 作者姓名： | 胡金波 刘智伟 葛明峰 |
| |
| 作者单位： | 华中科技大学 自动化学院, 武汉, 430074,华中科技大学 自动化学院, 武汉, 430074,中国地质大学 机械与电子信息学院, 武汉, 430074 |
| |
| 基金项目： | 国家自然科学基金（61673303，61703374） |
| |
| 摘 要： | 提出了一种级联控制算法解决多无人艇（USVs）系统的分布式轨迹跟踪问题.这种控制算法可以分为两层：第一层是基于采样信息的分布式估计器，主要用于估计领航者的期望轨迹；第二层是每个无人艇的本地控制器，主要是结合滑模控制与神经网络径向基函数，在系统具有欠驱动、参数不确定性和扰动等因素的情况下，使其状态跟踪期望轨迹的本地估计值.为了求解上述跟踪控制问题，基于李雅普诺夫理论与级联系统理论，推导得到了所有无人艇位置状态收敛到期望轨迹的充分条件，并通过仿真结果验证了所提出控制方法的有效性与正确性.
|
| 关 键 词： | 无人艇 滑模控制 径向基函数 欠驱动 一致性 |
| 收稿时间： | 2018/5/8 0:00:00 |
Consensus tracking control of multi-USV system based on distributed estimator under sampled interactions |
| |
| HU Jinbo,LIU Zhiwei and GE Mingfeng.Consensus tracking control of multi-USV system based on distributed estimator under sampled interactions[J].Journal of Nanjing Institute of Meteorology,2018,10(4):443-449. |
| |
| Authors: | HU Jinbo LIU Zhiwei and GE Mingfeng |
| |
| Institution: | School of Automation, Huazhong University of Science & Technology, Wuhan 430074,School of Automation, Huazhong University of Science & Technology, Wuhan 430074 and School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074 |
| |
| Abstract: | This paper proposes a cascade-based control algorithm for distributed consensus tracking of multi-underactuated surface vessels(USVs) system.The presented control algorithm can be divided into two parts.The first part is a distributed control estimator under sampled interactions,which is used to estimate the leader''s trajectory.The second part is the local control law,driving each USV to track the obtained estimated trajectory by invoking sliding mode control combined with the radical basis function neural network in terms of the underactuated feature,environmental disturbance and model uncertainties.Besides,in order to solve the presented tracking problem,several sufficient conditions are obtained via Lyapunov theory and cascade system theory to ensure that the position states of all USVs converge to the desired position.The simulation results show the correctness and effectiveness of the proposed theorem. |
| |
| Keywords: | USVs sliding mode control radical basis function underactuated consensus |
|
| 点击此处可从《南京气象学院学报》浏览原始摘要信息 |
| 点击此处可从《南京气象学院学报》下载免费的PDF全文 |
|
