多无人艇集群协同控制研究进展与未来趋势

  目的  为改进欠驱动无人船（USV）目标跟踪制导的暂态控制性能，提出一种基于双偶极向量场的目标跟踪制导方法。  方法  首先，根据双偶极向量场原理，设计欠驱动USV艏摇角速度和前向速度导引律。然后，通过稳定性分析，证明控制系统是有界稳定的。最后，经仿真和实验验证所提方法的有效性。  结果  结果表明，控制系统能够使USV跟踪位置收敛到目标点附近的邻域内，不仅跟踪轨迹更光滑，暂态控制性能也更好，在实现目标跟踪的同时还能够保持期望的航向。  结论  所提方法可以克服现有目标跟踪制导方法稳态航向不能指定的局限性。

An overview of recent advances in coordinated control of multiple autonomous surface vehicles

  Objective  This paper aims to improve the transient control performance of target tracking and guidance for under-actuated unmanned surface vehicles (USVs) by proposing a target tracking guidance method based on two-dimensional dipolar vector fields.   Methods  The angular velocity and forward velocity guidance laws of the USV are designed on the basis of the two-dimensional dipolar vector field principle. Stability analysis is carried out to prove that the control system is bounded and stable. Finally, the validity of the proposed method is verified through simulation and experiment.   Results  The tracking position is shown to be convergent to the neighborhood near the target. This method not only makes the tracking trajectory smoother and provides better transient control performance, but it also achieves target tracking while maintaining the desired heading.   Conclusions   The proposed method can overcome the limitations of target tracking and guidance methods by eliminating cases in which a steady-state heading cannot be specified.