数字海洋与水下攻防2023，Vol.6Issue(6)：681-689,9.DOI:10.19838/j.issn.2096-5753.2023.06.005
基于扰动观测器的非奇异模糊滑模无人船编队控制
Nonsingular Fuzzy Sliding-mode Formation Control of Unmanned Surface Vehicles Based on a Disturbance Observer
摘要
Abstract
In order to solve formation control problems of model parameter uncertainty,external disturbances and chattering phenomena,a nonsingular fuzzy terminal sliding-mode formation control method based on a disturbance observer is proposed.Firstly,the leader-follower is combined with the artificial potential field method to achieve the formation configuration of unmanned surface vehicles while ensuring collision avoidance.Secondly,fuzzy control rules are designed based on Lyapunov energy function to eliminate chattering phenomena in the controller.Furthermore,a disturbance observer is proposed to compensate for unknown dynamics and external disturbances,which enhances the robustness and stability of the system.The effectiveness of the proposed control method is verified through theoretical analysis and simulation results.Based on the designed formation control method,unmanned surface vehicles ultimately achieve the desired formation configuration.关键词
无人船编队控制/非奇异终端滑模控制/模糊控制规则/扰动观测器Key words
unmanned surface vehicle formation control/nonsingular terminal sliding-mode control/fuzzy control rules/disturbance observer分类
计算机与自动化引用本文复制引用
司金帅,黄海滨,庄宇飞,李亚南,王晨旭,谢峰..基于扰动观测器的非奇异模糊滑模无人船编队控制[J].数字海洋与水下攻防,2023,6(6):681-689,9.基金项目
山东省自然科学基金面上项目"海洋立体观测系统中水面无人艇对自主式水下航行器的航迹跟踪控制"(ZR2020ME265) （ZR2020ME265）
山东省自然科学基金面上项目"博弈框架下多AUV协同一体化水下传感器网络数据回收"(ZR2021ME115) （ZR2021ME115）
山东省科技型中小企业创新能力提升项目"海洋环境调查与海事测量无人船产业化"(2021TSGC1376) （2021TSGC1376）
山东省科技型中小企业创新能力提升项目"海洋牧场移动式智能自主立体观测平台产业化"(2023TSGC0668) （2023TSGC0668）
山东省重点研发计划(2022ZLGX04). （2022ZLGX04）
