带有输入量化的分布式多无人船舶自适应模糊编队控制
Fuzzy-adaptive distributed formation control of unmanned surface vehicles with input quantization
宁君 1彭周华 2李铁山 3陈俊龙4
作者信息
- 1. 大连海事大学航海学院,辽宁大连 116026
- 2. 大连海事大学船舶电器工程学院,辽宁大连 116026
- 3. 电子科技大学自动化工程学院,成都 611730
- 4. 华南理工大学计算机科学与工程学院,广州 510641
- 折叠
摘要
针对复杂海洋环境下,欠驱动水面无人船舶(USV)编队控制任务中存在的模型不确定性、参数摄动及输入量化等问题,提出一种考虑输入量化的分布式欠驱动多无人船舶自适应模糊编队控制算法.首先,在USV运动学子系统,设计基于扩张状态观测器(ESO)的分布式制导律,分别实现对期望路径的跟踪、邻居USV速度信息的估计以及海流引起的运动学偏移的补偿;其次,在USV动力学子系统,通过使用模糊逻辑系统实现对模型不确定及外界干扰的逼近,采用一种线性解析模型描述输入量化过程,所设计的自适应模糊量化控制器不需要量化参数的先验信息,基于输入到状态稳定性理论证明闭环系统的稳定性;最后,通过仿真实验验证所提出的算法的有效性.
Abstract
This paper addresses a distributed fuzzy-adaptive quantized formation control algorithm of multiple under-actuated unmanned surface vehicles(USVs)subject to model uncertainty,parameter perturbation and input quantization under complex marine environment.Specifically,at the kinematic level,an extended-state-observer-based(ESO)distributed guidance law is developed to track a time-varying trajectory where the ESO is adopted to estimate the unavailable velocity of neighboring USVs and compensate for the kinematic offset caused by ocean current.At the kinetic level,by using a linear analytical model to describe the quantization process and fuzzy logic system to identify the unknown kinetics,a fuzzy-adaptive quantized control law is developed where no information on the parameters of quantizers is required.The stability of the closed-loop control system is proven on the basis of input-to-state stability.Finally,the simulation results demonstrate the effectiveness of the proposed algorithm.
关键词
欠驱动USV/分布式编队/扩张状态观测器/输入量化/自适应模糊控制Key words
under-actuated unmanned surface vehicles/distributed formation control/extended state observer/input quantization/adaptive fuzzy control引用本文复制引用
基金项目
国家自然科学基金项目(51939001)
国家自然科学基金项目(61976033)
国家自然科学基金项目(52171292)
国家自然科学基金项目(52271304)
中央高校基本科研业务费专项资金项目(3132023151)
出版年
2024
NETL
NSTL
万方数据