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未知扰动下的无人艇编队优化轨迹跟踪控制

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[目的]针对水面无人艇(USV)编队轨迹跟踪中存在的未知扰动和队形变化问题,提出一种基于有限时间扰动观测器的最优反步控制(FDO-OBC)方法.[方法]首先,基于虚拟结构法,建立无人艇编队控制框架,并设计运动学和动力学编队控制器;其次,设计有限时间扰动观测器,实时估计补偿未知环境扰动;然后,针对编队队形变化的轨迹跟踪问题,提出基于最优反步控制的动态轨迹优化策略,利用扰动观测器信息来计算最优控制输入,实现无人艇编队轨迹跟踪的动态优化;最后,采用李雅普诺夫稳定性理论证明该编队控制方法的稳定性.[结果]仿真对比结果表明,FDO-OBC策略可有效提高无人艇编队系统的精确性和鲁棒性.[结论]对于面向扰动环境下的无人艇编队控制系统设计,FDO-OBC方法提供了一种新的技术手段.
Optimal trajectory tracking control of unmanned surface vehicle formation under unknown disturbances
[Objective]A finite-time disturbance observer-based optimal backstepping control(FDO-OBC)method is proposed for the issue of unknown disturbances and formation changes in the formation trajectory tracking of unmanned surface vehicles(USVs).[Methods]First,the USV formation control framework is established on the basis of the virtual structure method,and the kinematics and dynamics formation control-lers are designed.Second,a finite-time disturbance observer is introduced to estimate and compensate for un-known environmental disturbances in real time.Further,a dynamic trajectory optimization strategy based on optimal backstepping control is proposed for the trajectory tracking issue of formation change,and the inform-ation of the disturbance observer is used to calculate the optimal control input and achieve the dynamic optim-ization of USV formation trajectory tracking.Finally,Lyapunov stability theory is used to demonstrate the sta-bility of the designed formation control method.[Results]The simulation results indicate that the proposed control strategy can effectively improve the accuracy and robustness of the USV formation system.[Conclu-sion]The FDO-OBC method provides a new technical means for the design of USV formation control sys-tems under unknown environmental disturbances.

unmanned surface vehiclesformation controlfinite-time disturbance observeroptimal back-stepping

王宁、刘永金、高颖

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大连海事大学 轮机工程学院,辽宁 大连 116026

大连海事大学 船舶电气工程学院,辽宁 大连 116026

水面无人艇 编队控制 有限时间扰动观测器 最优反步

国家高层次人才支持计划项目国家自然科学基金资助项目国家自然科学基金资助项目国防基础科研计划资助项目中央引导地方科技发展专项资金项目大连市科技创新基金重大基础研究资助项目中央高校基本科研业务费专项资金资助项目

SQ2022QB00329U23A2068052271306JCKY2022410C0132023JH6/1001000102023JJ11CG0093132023501

2024

10.19693/j.issn.1673-3185.03348

中国舰船研究
中国舰船研究设计中心

中国舰船研究

CSTPCD北大核心
影响因子：0.496
ISSN：1673-3185
年,卷(期)：2024.19(1)
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