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摘要: 研究了具有输入饱和且存在横荡运动的欠驱动船舶在水面上运动的编队控制问题.使用Leader-follower方法，将编队控制问题转化为镇定控制问题.给出了不同于Backstepping方法的编队控制器设计三步法，该方法有助于克服输入饱和的影响，并分析了闭环系统的稳定性.进一步，将跟随船控制输入中的微分、虚拟领航船的加速度、跟随船动力学模型的不确定性和外扰统一视为干扰，应用干扰观测器估计并在控制器中给予补偿.仿真结果表明了方法的有效性.Abstract: This paper addresses the control problem of underactuated ship formation sailing on ocean with input saturation and sway motion. By means of the leader-follower method, the problem is converted into a stablization problem. A three-step formation control design method is given, which is different from the backstepping method and can help overcome the influence of input saturation. Then, the stability of the closed-loop system is analyzed. Moreover, the differential of the controllers of the followers, the acceleration of the virtual leader, and the uncertainties and external disturbances in the dynamics models of the followers are all viewed as disturbances. These disturbances are estimated by using the disturbance observers and thus the controllers are compensated. Simulation is presented to illustrate the effectiveness of the method.
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Key words:
- Ship formation control /
- underactuated /
- input saturation /
- nonlinear control
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图 1 跟随船i和虚拟领航船的运动示意图
Fig. 1 Motion sketch map of the follower i and the virtual leader
图 3 无干扰观测器时船舶编队运动轨迹
Fig. 3 Motion trajectory of the ship formation no using the disturbance observers
图 4 采用干扰观测器时船舶编队运动轨迹
Fig. 4 Motion trajectory of the ship formation using the disturbance observers
图 6 采用干扰观测器时跟随船1和2的控制输入
Fig. 6 Control inputs of the follower 1 and 2 using the disturbance observers
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