哈尔滨工程大学学报2023，Vol.55Issue(10)：1779-1787,9.DOI:10.11990/jheu.202112039
基于齐次系统理论的多船有限时间饱和包容控制
Multiship finite-time saturation containment control based on homogeneous system theory
摘要
Abstract
For the multileader ship formation control problem,this paper proposed a finite-time saturation con-tainment control strategy with a simplified mathematical form based on the finite-time stability theory of a homo-geneous system and using the specific saturation constraint function.Then,we determined whether the ship con-verged to the convex hull formed by the virtual leader ship in a finite time and maintained its attitude stabiliza-tion.First,the ship model was transformed into an integral form,after which a saturation containment control law was proposed by using its own state information and the state information of other ships.Next,we theoretically proved that all state variables in the formation system can converge in a finite time while considering the non-ho-mogeneity of the closed-loop system,as well as the integrated graph theory,Lyapunov stability theory and the sta-bility theory of homogeneous system.The simulation results demonstrated the effectiveness of the proposed con-trol strategy.关键词
多船/有限时间控制/齐次系统理论/包容控制/输入饱和约束/李雅普诺夫稳定性理论/船舶编队控制/图论Key words
multiple ships/finite-time control/homogeneous system theory/containment control/input saturation constraint/Lvapunov stability theory/ship formation control/graph theory分类
信息技术与安全科学引用本文复制引用
马俊达,谭冲,范佳佳..基于齐次系统理论的多船有限时间饱和包容控制[J].哈尔滨工程大学学报,2023,55(10):1779-1787,9.基金项目
国家自然科学基金项目(61903104). （61903104）
