水面无人艇集群系统研究

  目的  为解决复杂扰动下的领航—跟随水面无人艇（USV）编队控制问题，提出一种固定时间控制（FTC）方法。  方法  针对跟踪控制子系统，设计一种基于积分滑模的固定时间跟踪控制（IMS-FTC）策略；针对编队控制子系统，设计一种基于有限时间扰动观测器的固定时间编队控制（FDO-FFC）策略；基于 Lyapunov稳定性理论证明所设计的编队控制方法的整体稳定性。  结果  采用经典CyberShip II试验模型进行仿真研究，结果显示所设计的控制方案能够有效提高领航—跟随USV编队系统的精确性和鲁棒性。  结论  研究成果可为无人艇编队控制系统设计提供先进的技术手段。

Research on unmanned surface vehicle cluster system

  Objectives   To solve the formation control problem of leader-follower unmanned surface vehicles (USV) under complex environmental disturbances, a fixed-time control (FTC) approach is proposed in this paper.  Methods  Fixed-time tracking control based on the integral sliding mode (ISM-FTC) approach is designed for the tracking control subsystem, and a finite-time disturbance observer-based fixed-time formation control (FDO-FFC) approach is developed for the formation control subsystem. The overall feasibility of the designed methods is verified via the Lyapunov function.   Results  The simulation results of a prototype CyberShip II model indicate that the designed scheme can improve the accuracy and robustness of the leader-follower USV formation system.  Conclusions  The results of this study can provide advanced technical means for USV formation control systems.