首页> 外文会议>2017 International Conference on Information, Cybernetics, and Computational Social Systems >Leader-following consensus control for multiple marine vessels based on dynamic surface control and neural network
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Leader-following consensus control for multiple marine vessels based on dynamic surface control and neural network

机译:基于动态表面控制和神经网络的多舰船首长跟随共识控制

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摘要

In this paper, a robust consensus tracking controller for multiple marine vessels based on dynamic surface control (DSC) and neural network (NN) is proposed. The communication topology, which is often limited due to the topography and external disturbances, is of significance for coordination of the multiple marine vessels. The influence of communication topologies, which is neglected in many control designs for coordination of multiple marine vessels, is studied in this paper. First, an independent controller is designed to force the leader to follow a predefined path. The robust distributed controller is then designed for the multiple marine vessels only using the information of itself and its neighbors. The unknown dynamics of the group of marine vessels, which are hard to be determined, are treated as one integrated nonlinear uncertainty, and the NN is employed to deal with it. In order to avoid the problem of “explosion of complexity” which is inherent in traditional backstepping technique, the dynamic surface control (DSC) is employed, in this way, the computational burden is reduced. All the signals of multiple marine vessels are proved to be uniformly bounded. The simulation results are provided to illustrate the effectiveness of the proposed control design.
机译:本文提出了一种基于动态表面控制(DSC)和神经网络(NN)的多船稳健共识跟踪控制器。通常由于地形和外部干扰而受到限制的通信拓扑对于多艘船舶的协调具有重要意义。本文研究了通讯拓扑的影响,这种影响在许多用于协调多艘船舶的控制设计中被忽略了。首先,设计一个独立的控制器来强制领导者遵循预定的路径。然后,仅使用自身及其邻居的信息将鲁棒的分布式控制器设计用于多艘船舶。将难以确定的那一组船舶的未知动力学视为一个综合非线性不确定性,并采用NN对其进行处理。为了避免传统反推技术固有的“复杂性爆炸”问题,采用了动态表面控制(DSC),从而减少了计算负担。事实证明,多艘船舶的所有信号均具有均匀边界。提供仿真结果以说明所提出的控制设计的有效性。

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