摘要
为了解决动态约束下的无人船鲁棒包容控制问题,以固定时间稳定性理论为基础,结合预设性能函数和滑模控制技术,提出一种固定时间非奇异滑模鲁棒包容控制律。首先,设计固定时间扩张观测器,对速度不可测以及集总不变项进行估计。然后,通过设计性能函数实现对包容跟踪偏差的约束,结合转换函数转换成无约束问题对包容控制偏差进行约束控制。进一步,构造非奇异滑模面并设计固定时间趋近律,实现跟随船在固定时间内收敛至虚拟领导船张成的凸包内。最后,利用固定时间稳定性理论证明系统误差在固定时间内收敛于平衡点。仿真结果说明,所提控制律可以使多无人船在固定时间内形成高精度且稳定的编队形式并且在设置的预设性能下实现包容控制偏差的收敛。
In order to solve the problem of robust containment control of unmanned ships under dynamic constraints,based on the fixed-time stability theory,combined with the preset performance function and sliding mode control technology,a fixed-time non-singular sliding mode robust containment control law was proposed.Firstly,a fixed-time expansion observer was designed to estimate the unmeasurable velocity and the aggregate invariant.Then,the constraints on the inclusion tracking bias were realized by designing the performance function,and the constraints on the tolerance control bias were carried out by converting the conversion function into an unconstrained problem.Furthermore,the non-singular sliding form surface was constructed,and the fixed-time approximation law was designed to realize the convergence of the following ship into the convex hull formed by the virtual leader ship in a fixed time.Finally,the fixed-time stability theory was used to prove that the systematic error converges at the equilibrium point in a fixed time.The simulation results show that the proposed control law can make the multi-un-manned ship form with high precision and stability in a fixed time,and achieve the convergence of the control deviation under the set preset performance.
作者
马俊达
孙鹤方
谭冲
辛华健
刘可
MA Junda;SUN Hefang;TAN Chong;XIN Huajian;LIU Ke(College of Automation,Harbin University of Science and Technology,Harbin 150080,China;Provincial Key Laboratory of Complex Intelligent System and Integration,Harbin 150000,China;College of Intelligent Manufacturing,Guangxi Industrial Vocational and Technical College,Nanning 530200,China;College of Measurement and Control Technology and Communication Engineering,Harbin University of Science and Technology,Harbin 150080,China)
出处
《电机与控制学报》
EI
CSCD
北大核心
2024年第4期167-176,共10页
Electric Machines and Control
基金
黑龙江省自然科学基金联合引导项目(LH2022F033)。
关键词
多船编队
包容控制
固定时间控制
扩张观测器
非奇异滑模
动态约束
multi-ship formation
containment control
fixed-time control
extended observer
non-singu-lar sliding mode
dynamic constraints
