基于状态观测器的多艘船舶鲁棒同步控制

摘要

为了实现多艘船舶的同步运动，满足海上作业的需求，提出了基于状态观测器的多艘船舶鲁棒同步运动控制策略。建立了多艘船舶运动数学模型；建立了扰动观测器对未知扰动进行估计；在此基础上，为每艘船预先设定期望路径，并用有向图表示船舶之间的通信，将多艘船的同步运动误差引入到反馈控制器，控制多艘船舶实现同步运动；在多艘船的速度和加速度不可测的情况下，通过分别对每一艘船舶设计非线性状态观测器，进而得到多艘船的速度和加速度估计值；利用李雅普诺夫稳定性理论，证明了所设计的控制律的稳定性；通过仿真得出该同步控制方法可以很好地解决多艘船舶的同步运动控制问题。%In order to implement multiple vessels synchronization movement and thus fulfill assignments at sea, a ro⁃bust synchronization control strategy with state observer was specified. Firstly, the vessel model was established. Secondly, a disturbance observer to estimate unknown disturbance was presented. Meanwhile, the desired path for each vessel was planned and a directed graph that describes the communication network of vessels was proposed. In addition, the synchronization error was applied into the controller to control the vessels achieve synchronization movement. When velocity and accelerate of vessels were unavailable, a nonlinear state observer was designed for each vessel to get the estimated values of speed and acceleration of vessels. Thirdly, the stability of the proposed synchronization movement was proven utilizing the Lyapunuy theory. Finally, simulation results indicated the de⁃signed control strategy can solve the synchronization movement problem accurately.