水下无人系统学报2025，Vol.33Issue(1)：24-36,13.DOI:10.11993/j.issn.2096-3920.2024-0039
带有输入时延的多无人艇系统固定时间编队控制
Fixed-Time Formation Control for Multi-Unmanned Surface Vessel Systems with Input Delay
摘要
Abstract
In recent years,fixed-time formation control has become a major research focus in multi-unmanned surface vessel(USV)systems.A critical challenge in achieving fixed-time formation in these systems is handling input delays.In view of this,under a general directed interaction topology,an in-depth study on the fixed-time formation control issues in multi-USV systems with input delays was carried out.Firstly,the Artstein reduction method was applied to transform a multi-USV system with input delays into a control system with disturbances in a second-order integral form.To overcome the effect of disturbances on the system,a fixed-time state observer was designed to estimate the system state using only the relative position information of the USV.On this basis,a distributed fixed-time formation control protocol was proposed in combination with the backstepping method,which realized fixed-time formation control for multi-USV systems with input delays.Finally,the correctness of the obtained theoretical results was verified through simulation experiments.关键词
多无人艇系统/固定时间编队控制/状态观测器/输入时延Key words
multi-unmanned surface vessel systems/fixed-time formation control/state observer/input delay分类
武器工业引用本文复制引用
李健翔,张文乐,黎明..带有输入时延的多无人艇系统固定时间编队控制[J].水下无人系统学报,2025,33(1):24-36,13.基金项目
山东省重点研发计划(重大科技创新工程)(2023ZLGX04) （重大科技创新工程）
山东省自然科学基金面上项目(ZR2023MF086)资助. （ZR2023MF086）
