中国舰船研究2025，Vol.20Issue(1)：191-202,12.DOI:10.19693/j.issn.1673-3185.03983
基于KFESO的多无人艇分布式协同路径跟踪复合抗扰控制
KFESO-based composite anti-disturbance control for distributed cooperative path following of unmanned surface vehicles
摘要
Abstract
[Objective]Due to mixed-frequency multi-source disturbances,unmanned surface vehicles(USVs)encounter challenges in accurately capturing state information and ensuring path-tracking precision.To address this issue,a composite anti-disturbance control method based on an extended state observer com-bined with Kalman filter(KFESO)is proposed for distributed cooperative path following of multiple USVs.[Methods]Firstly,an extended state observer combined with Kalman filter is constructed to estimate the state variables and lumped disturbances of USVs.Secondly,a distributed state observer is designed to ob-tain the speed information of the virtual leader.Based on the consistency theory and the line-of-sight guidance law,a kinematic cooperative controller is designed by combining the output of the KFESO and the estimated reference speed.Furthermore,a kinetic anti-disturbance controller is designed using the backstepping method and the dynamic surface control technique.The Lyapunov stability theory is employed to prove that all error signals in the control system are uniformly ultimately bounded.[Results]Simulation experiments show that the proposed method can accurately obtain the states of USVs.Under mixed-frequency multi-source disturb-ances,compared with the standard ESO-based control method,it has higher tracking precision and stronger anti-disturbance ability.Regarding path tracking trajectories,the proposed method achieves reduced lateral de-viations and more stable trajectories.For position errors,the convergence times are comparable,but the pro-posed method effectively eliminates oscillations.In terms of path parameter coordination error,the proposed method can stabilize the formation,whereas the comparison method suffers from high-frequency oscillations.In terms of state estimation accuracy,the proposed method significantly improves the estimation accuracy of various state variables,enables the distributed state observer to effectively estimate the speed of the virtual leader,and achieves smaller errors in speed and control force(moment),effectively mitigating the frequent ac-tuator response to noise.[Conclusion]This method can resolve the trade-off between estimation speed and accuracy in ESO,and improve the precision of multi-USV cooperative path following.关键词
无人艇/分布式协同路径跟踪/多源干扰/运动控制/操纵性Key words
unmanned vehicles/distributed coordinated path following/multi-source disturbance/motion control/maneuverability分类
交通运输引用本文复制引用
陈浩宇,徐海祥,魏骁,王健,陈伟..基于KFESO的多无人艇分布式协同路径跟踪复合抗扰控制[J].中国舰船研究,2025,20(1):191-202,12.基金项目
国家自然科学基金资助项目(52201373) （52201373）
中央高校基本科研业务费专项资金资助项目(WUT:2024IVA018) （WUT:2024IVA018）
