自动化学报2025，Vol.51Issue(5)：1052-1066,15.DOI:10.16383/j.aas.c240141
无人机/无人艇异构协同固定时间预设性能演化控制
Heterogeneous Cooperative Fixed-time Prescribed Performance Evolution Control for Unmanned Aerial/Surface Vehicle
摘要
Abstract
A fixed-time prescribed performance evolution control method is proposed for the formation contain-ment control problem of unmanned aerial/surface vehicle heterogeneous cooperative system with actuator faults.The evolution path for the control error convergence is designed to guarantee the continuity and accuracy of relat-ive position signals based on visual measurement,and the error is limited to the neighborhood of the evolution path by the fixed-time prescribed performance function.The constrained tracking problem is transformed into an uncon-strained stabilization problem by using the transformation function.The dynamic surface technology is used to con-trol the transformed error dynamics,and the disturbance observer and adaptive technique are utilized to estimate the disturbance and the unknown actuator faults.It is proved that all signals of the error dynamics closed-loop sys-tem are uniformly ultimately bounded by Lyapunov function,and it is further proved that the formation error is fixed-time stable.Numerical simulations verify the effectiveness of the proposed method.关键词
异构协同系统/编队包容控制/执行器故障/预设性能演化控制/固定时间稳定Key words
Heterogeneous cooperative system/formation containment control/actuator faults/prescribed perform-ance evolution control/fixed-time stabilization引用本文复制引用
袁洋,段海滨,魏晨..无人机/无人艇异构协同固定时间预设性能演化控制[J].自动化学报,2025,51(5):1052-1066,15.基金项目
国家自然科学基金(62350048,U24B20156,T2121003)资助Supported by National Natural Science Foundation of China(62350048,U24B20156,T2121003) （62350048,U24B20156,T2121003）
