Coordinated path-following control for networked unmanned surface vehicles

摘要

In this article, the coordinated path-following control problem for networked unmanned surface vehicles is investigated. The communication network brings time delays and packet dropouts to the fleet, which will have negative effects on the control performance of the fleet. To attenuate the negative effects, a novel networked predictive control scheme is proposed. By introducing the predictive error into the control scheme, the proposed control strategy admits some advantages compared with existing networked predictive control strategies, for example, a degree of robustness to disturbances, lower requirements for the computing capacity of the onboard processors, high flexibility in controller design, and so on. Conditions that guarantee the control performance of the overall system are derived in the theoretical analysis. At last, experiments on hovercraft test beds are implemented to verify the effectiveness of the proposed control scheme.