Cooperative Path Following Control of Multiple USVs Based on Disturbance Observer
This paper proposes a fixed-time cooperative path following control algorithm of multiple USVs for the problems of limited communication resources,external environment disturbance and slow convergence rate.Firstly,the fixed-time event-trig-gered parameter coordination module is designed by combining the fixed time algorithm,parameter coordination algorithm and event trigger communication mechanism,so as to coordinate the parameters on the expected path,calculate the ideal position and reduce communication resource consumption.Secondly,in order to avoid the external environment and realize trajectory tracking control within fixed-time,the fixed-time trajectory tracking control module is designed,including fixed-time disturbance observer and fixed-time tracking controller.Each module algorithm can ensure fixed-time convergence,so the whole system can achieve fixed-time convergence.Simulation results demonstrate the effectiveness of the present design algorithm.
万方数据
维普
