Finite Time Synchronized Formation Control of Unmanned Surface Vehicles With External Disturbances
A finite time synchronization control framework for unmanned surface vehicles is proposed to address the issue of different convergence times of various states in finite time control.The finite time synchronization forma-tion control method designed under this framework can cleverly achieve that all degrees of freedom errors of un-manned surface vehicles converge to an equilibrium point at the same time.Firstly,to address the issue of incom-patibility between existing disturbance observers and time synchronization stabilization frameworks,a finite time synchronization disturbance observer is designed.Furthermore,utilizing the ratio persistence property,a finite time synchronous formation controller is designed,and the stability of the proposed control algorithm is demonstrated.Finally,simulation research was conducted on three unmanned surface vehicles,and the results verified the effect-iveness and superiority of the proposed control algorithm.The control method proposed in this article has practical significance for the fields of navigation,aerospace,and industry that require time-synchronous control.
Time-synchronous controlunmanned surface vehiclesformationfinite time controldisturbance ob-server
万方数据
维普
