基于虚拟领航者的船舶无源协调编队控制研究

付明玉; 焦建芳

doi:10.3724/SP.J.1004.2014.00439

基于虚拟领航者的船舶无源协调编队控制研究

doi: 10.3724/SP.J.1004.2014.00439

付明玉,
焦建芳^,

1.
哈尔滨工程大学自动化学院哈尔滨 150001

基金项目:

高技术船舶科研项目（Z12SJENA0011），国家科技重大专项子课题（2011ZX05027-002）资助

详细信息

作者简介:
付明玉哈尔滨工程大学自动化学院教授. 2005 年获哈尔滨工程大学控制理论与控制工程专业博士学位. 主要研究方向为船舶运动控制, 船舶动力定位.E-mail：fumingyu@hrbeu.edu.cn

通讯作者:
焦建芳

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- 文章访问数: 1938
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- 被引次数: 0
出版历程
- 收稿日期: 2012-12-07
- 修回日期: 2013-07-09
- 刊出日期: 2014-03-20

Passive Coordinated Formation Control for Vessels Based on Virtual Leader

FU Ming-Yu,
JIAO Jian-Fang^,

1.
College of Automation, Harbin Engineering University, Harbin 150001

Funds:

Supported by High Technology of Ships Research Program of China (Z12SJENA0011) and National Technology Momentous Special Program of China (2011ZX05027-002)

摘要

摘要: 随着海上任务越来越复杂，许多作业过程要求多艘船舶相互协调. 本文结合了虚拟领航者协调策略和无源性理论控制方法的各自优势，提出了一种基于虚拟领航者的无源协调控制方法，来解决多艘船舶的协调路径跟踪问题.通过对虚拟领航者设计路径跟踪控制器，使其领导作业船舶按着指定的路径进行协调作业，同时定义每艘船舶的队形参考点，应用无源性理论设计同步控制器使所有船舶的参考点趋于一致，最终实现多艘船舶按一定的队形进行协调路径跟踪.最后通过仿真实验验证了所提算法的有效性.
- 协调控制 /
- 虚拟领航者 /
- 无源性 /
- 船舶控制 /
- 路径跟踪
Abstract: With the increasing complexity of marine missions, it is necessary to carry out the tasks through coordination of multiple vessels. This study addresses the problem of coordinated path following for multiple vessels. The authors show how the virtual leader strategy and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader. Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point. The consensus of formation reference point is realized by using the synchronization controller based on passivity. Finally, simulation results show the effectiveness of the proposed coordinated algorithm.
- Coordinated control /
- virtual leader /
- passivity /
- vessels control /
- path following

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参考文献(22)

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