1.哈尔滨工业大学(威海) 信息科学与工程学院;2.山东省威海船舶技术服务中心
山东省自然科学基金面上项目 (No. ZR2020ME265, ZR2021ME155), 山东省科技型中小企业创新能力提升项目 (No. 2021TSGC1376, 2023TSGC0668), 山东省重点研发计划(2022ZLGX04)
1.School of Information Science and Engineering, Harbin Institute of Technology，Weihai;2.Shandong Weihai Shipbuilding Technology Service Center
Shandong Province Natural Science Foundation (No. ZR2020ME265,ZR2021ME155), Innovation Capability Improvement Project for Technology Oriented Small and Medium-sized Enterprises of Shandong Province (No. 2021TSGC1376,2023TSGC0668), the Key Research and Development Program of Shandong Province (2022ZLGX04)
【目的】本文针对含有模型参数不确定性、外界干扰与抖振现象的无人船编队问题,提出了一种基于扰动观测器的非奇异模糊终端滑模编队控制方法。【方法】首先,将领航者-跟随者与人工势场法相结合,获得无人船的编队构型并保证无碰撞现象；其次,基于Lyapunov能量函数设计出模糊控制规则,消除了控制器中的抖振问题；进而,提出了一种扰动观测器来补偿未知动态和外界干扰,增强了系统的鲁棒性和稳定性。【结果】通过理论分析和仿真结果验证了所提控制方法的有效性。【结论】基于所设计的编队控制方法,无人船最终可形成期望的编队构型。
[Objectives] Focusing on formation control problem with model parameter uncertainties, external disturbances and chattering phenomena, this paper presents a nonsingular fuzzy terminal sliding-mode formation control method based on disturbance observer. [Methods] Firstly, the leader-follower is combined with the artificial potential field method to achieve the formation configuration of unmanned surface vehicles while ensuring collision avoidance. Secondly, fuzzy control rules are designed based on Lyapunov energy function to eliminate chattering issues in the controller. Furthermore, a disturbance observer is proposed to compensate for unknown dynamics and external disturbances, which enhances the robustness and stability of the system. [Results] The effectiveness of the proposed control method is verified through theoretical analysis and simulation results. [Conclusions] Based on the designed formation control method, unmanned surface vehicles can ultimately achieve the desired formation configuration.
