舰船电子工程2025，Vol.45Issue(5)：32-36,132,6.DOI:10.3969/j.issn.1672-9730.2025.05.008
基于反步法的无人艇编队控制技术研究
Research on Formation Control Technology of Unmanned Surface Vessel Based on Backstepping Method
刘善玉 1王龙金1
作者信息
- 1. 青岛科技大学机电工程学院 青岛 266061
- 折叠
摘要
Abstract
A fixed time unmanned surface vessel formation trajectory tracking control method based on pilot-following is proposed for the cluster control problem of unmanned surface vessel formation.Using the backstepping method and fixed time strategy,the tracking error of the navigator and formation system is defined.Based on the fixed time backstepping control theory,the position and speed controllers of the unmanned surface vessels are designed to enable the navigator and follower to complete trajectory tracking within a fixed time,and the trajectory tracking error converges to the expected value within a fixed time|.In response to the frequent low-frequency interference problem faced by unmanned surface vessels,a fixed time disturbance observer is designed in the follower control system.By introducing auxiliary variables,low-frequency interference is estimated online,and dynamic compensation is applied to the motion control of unmanned surface vessels,improving the control accuracy of the formation under low-frequency disturbances.The stability of the designed formation control system is demonstrated using Lyapunov stability theory.Based on the Matlab/Simulink simulation platform,a simulation environment is constructed to verify the effectiveness of the formation control method proposed in this paper.关键词
USV/领航-跟随法/编队控制/固定时间Key words
USV/pilot-following method/formation control/fixed time分类
交通工程引用本文复制引用
刘善玉,王龙金..基于反步法的无人艇编队控制技术研究[J].舰船电子工程,2025,45(5):32-36,132,6.
