自动化学报Issue(3)：439-448,10.DOI:10.3724/SP.J.1004.2014.00439
基于虚拟领航者的船舶无源协调编队控制研究
Passive Coordinated Formation Control for Vessels Based on Virtual Leader
摘要
Abstract
With the increasing complexity of marine missions, it is necessary to carry out the tasks through coordination of multiple vessels. This study addresses the problem of coordinated path following for multiple vessels. The authors show how the virtual leader strategy and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader. Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point. The consensus of formation reference point is realized by using the synchronization controller based on passivity. Finally, simulation results show the effectiveness of the proposed coordinated algorithm.关键词
协调控制/虚拟领航者/无源性/船舶控制/路径跟踪Key words
Coordinated control/virtual leader/passivity/vessels control/path following引用本文复制引用
付明玉,焦建芳..基于虚拟领航者的船舶无源协调编队控制研究[J].自动化学报,2014,(3):439-448,10.基金项目
高技术船舶科研项目(Z12SJENA0011),国家科技重大专项子课题(2011ZX05027-002)资助Supported by High Technology of Ships Research Program of China (Z12SJENA0011) and National Technology Momentous Special Program of China (2011ZX05027-002) （Z12SJENA0011）
