控制饱和约束下的自主水面船编队

摘要

This paper considers the formation control of autonomous surface vessels with model uncertainties and ocean disturbances. To deal with the control saturation constraint problem in the formation control process, a formation control algorithm based on generalized saturation function is proposed. Firstly, by using the virtual leader-follower strategy, the formation controller is designed based on backstepping control method and a more general generalized saturation function, which breaks through the limitation of using specific saturation function. In addition, according to the characteristic of the autonomous surface vessels, the single hidden layer neural network is employed to approximate the model uncertainties and ocean disturbances. Then, the boundedness of all the closed-loop system signals is rigorously proved based on the Lyapunov theory of stability, and the tracking errors can be arbitrarily small by choosing appropriate design parameters. Finally, the comparative analysis of simulation results demonstrates the effectiveness of the proposed formation control algorithm in this paper.%针对含模型不确定与海洋环境干扰的自主水面船编队时的控制饱和约束问题,提出了一种基于广义饱和函数的编队控制算法.首先,采用虚拟领航–跟随编队策略,并基于反步法以及更为通用的广义饱和函数设计了编队控制器,突破了采用特定饱和函数的局限性.再针对自主水面船的特点,利用单隐层神经网络对模型不确定和海洋环境干扰进行了在线逼近.然后根据Lyapouv稳定性理论证明了闭环系统所有状态的有界性,并可通过选择合适的设计参数使跟踪误差为任意小.最后,通过对比仿真结果验证了本文所提出的抗饱和编队控制算法的有效性.