无人船协同目标包围控制方法
Unmanned Surface Vehicle Cooperative Target Encirclement Control Method
胡子谅1
作者信息
- 1. 桂林电子科技大学 机电工程学院,广西 桂林 541004
- 折叠
摘要
无人船在各个领域已得到了广泛应用,在海洋环境和资源探索中的作用日益突出.为应对无人船在协同和集群应用中的挑战,学者们对其研究逐步深入.针对无人船的研究,分别对单无人船及多无人船协同目标包围问题进行了简要介绍.在无人船运动学的基础上,提出了一种基于比例积分微分(Proportion Integration Differentiation,PID)控制器的动力学控制方法,并通过仿真实验验证了该方法的有效性.实验结果表明,所提出的控制方法能够使被控船舶较好地跟随给定的前向速度和实际角速度.
Abstract
USV are widely applied across various fields,and their role in marine environment and resource exploration is becoming increasingly prominent.In order to respond to the challenges associated with USV collaboration and swarm,research has deepened.For USV,a brief overview is provided focusing on both single USV and multi-USV collaborative target encirclement.Based on the kinematics of USV,a Proportion Integration Differentiation(PID)based kinetic control method is proposed and its effectiveness is validated through simulation experiments.The results demonstrate that the proposed control method enables the controlled vessel to closely follow the given forward speed and actual angular velocity.
关键词
无人船/目标协同/比例积分微分控制Key words
USV/target coordination/PID control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据