控制理论与应用2017，Vol.34Issue(5)：663-670,8.DOI:10.7641/CTA.2017.60449
控制饱和约束下的自主水面船编队
Formation control of autonomous surface vessels with saturation constraint
摘要
Abstract
This paper considers the formation control of autonomous surface vessels with model uncertainties and ocean disturbances. To deal with the control saturation constraint problem in the formation control process, a formation control algorithm based on generalized saturation function is proposed. Firstly, by using the virtual leader-follower strategy, the formation controller is designed based on backstepping control method and a more general generalized saturation function, which breaks through the limitation of using specific saturation function. In addition, according to the characteristic of the autonomous surface vessels, the single hidden layer neural network is employed to approximate the model uncertainties and ocean disturbances. Then, the boundedness of all the closed-loop system signals is rigorously proved based on the Lyapunov theory of stability, and the tracking errors can be arbitrarily small by choosing appropriate design parameters. Finally, the comparative analysis of simulation results demonstrates the effectiveness of the proposed formation control algorithm in this paper.关键词
自主水面船/编队控制/控制饱和约束/广义饱和函数/不确定性Key words
autonomous surface vessels/formation control/saturation constraint/generalized saturation function/un-certainties分类
信息技术与安全科学引用本文复制引用
付明玉,余玲玲,焦建芳,徐玉杰..控制饱和约束下的自主水面船编队[J].控制理论与应用,2017,34(5):663-670,8.基金项目
国家自然科学基金项目(61503040),国家重大专项("深水铺管起重船及配套工程技术"项目(2011ZX05027–002))资助. Supported by National Natural Science Foundation of China (61503040) and National Technology Momentous Special Program of China (2011 ZX05027–002). （61503040）
