网络环境下无人水面艇航向控制器设计

摘要

An unmanned surface vehicle (USV) is subject to the influences of the external environment disturbance and network-induced characteristics (such as network-induced delay and packet loss in the control center-to-actuator network channel, which will degrade the performance and the stability of the heading control system. To make the unmanned surface vehicle sail fast and stably, a kind of USV network-based heading control strategy is proposed. Network-based models for the unmanned surface vehicle subject to the wave-induced disturbance are established. Based on these models, controller design criteria are derived to asymptotically stabilize the USV heading control system by defining a suitable Lyapunovfunc-tional and adopting the convex analysis method. The simulation results verify the effectiveness of the proposed control schemes and the designed controllers.%无人水面艇自主航行中受到外部环境干扰及在控制中心-执行器网络通道中存在网络诱导特性(如网络诱导时延、数据丢包等)的影响,会降低系统性能,影响航向控制系统的稳定性.为了能使无人艇按照设定航向快速、稳定地航行,提出一种基于网络的无人艇航向控制策略.首先,建立基于网络的无人艇航向控制系统模型.基于这个模型,运用Lyapunov稳定性理论和凸分析方法导出能使网络环境下无人水面艇航向控制系统渐进稳定的控制律,并设计基于网络的航向控制器.通过仿真验证所提出方法和设计控制器的有效性.