摘要
针对欠驱动船舶之间的协同合作问题,对船舶的圆形编队控制进行了研究.采用坐标变换,得到新的船舶圆形编队控制的运动学模型.基于这种模型,运用循环追踪控制策略,得到船舶圆形编队的虚拟控制输入量.由于采用循环追踪控制,故每艘船只需了解所追踪的前一艘船的信息,而不需要知道其他船舶的信息就可以得到期望的整体队形要求,因此是所需通信数较少的方法之一.考虑船舶欠驱动的特点,将虚拟输入量与反步控制算法相结合,得到船舶圆形编队的实际控制输入.最后通过数值仿真,验证了该编队控制策略的有效性,实现了预期的编队控制目标.
The problem of circular formation control of an under-actuated ship fleet is studied.A kinematic model for ship circular formation control is established by using coordinate transformation.Based on this model,some desired velocities as the virtual inputs are derived by using the cyclic-pursuit strategy.The cyclic-pursuit protocol requires the minimum number of communications because each ship in the fleet only needs to know the information of the ship that it is tracking.Since ships are underactuated,the formation controller is derived based on the combination of virtual control inputs and back-stepping control method.Simulation results show the effectiveness of the proposed formation controller.
出处
《厦门大学学报（自然科学版）》
CAS
CSCD
北大核心
2015年第1期93-98,共6页
Journal of Xiamen University：Natural Science
基金
国家自然科学基金(61273153)
关键词
欠驱动船舶
圆形编队
循环追踪
反步法
underactuated ship
circular formation
cyclic pursuit
back-stepping
