刘洋, 贾宏春, 刘陆, 等. 无人船集群的抗干扰最优覆盖控制[J]. 中国舰船研究, 2023, 18(1): 67–77. doi: 10.19693/j.issn.1673-3185.02492
引用本文: 刘洋, 贾宏春, 刘陆, 等. 无人船集群的抗干扰最优覆盖控制[J]. 中国舰船研究, 2023, 18(1): 67–77. doi: 10.19693/j.issn.1673-3185.02492
LIU Y, JIA H C, LIU L, et al. Anti-disturbance optimal coverage control of ASVs[J]. Chinese Journal of Ship Research, 2023, 18(1): 67–77. doi: 10.19693/j.issn.1673-3185.02492
Citation: LIU Y, JIA H C, LIU L, et al. Anti-disturbance optimal coverage control of ASVs[J]. Chinese Journal of Ship Research, 2023, 18(1): 67–77. doi: 10.19693/j.issn.1673-3185.02492

无人船集群的抗干扰最优覆盖控制

Anti-disturbance optimal coverage control of ASVs

  • 摘要:
      目的  针对固定的海洋区域,研究欠驱动水面无人船(ASV)集群的抗干扰最优覆盖控制问题。
      方法  首先,在运动学层级,基于邻居ASV位置和环境密度信息进行Voronoi分配,设计欠驱动ASV运动学制导律,引导ASV运动到最优目标点;然后,考虑复杂海洋环境下ASV模型的不确定性以及风浪流引起的外部扰动,在动力学层级设计一种固定时间扩张状态观测器(FTESO),并基于FTESO设计固定时间的动力学控制律。
      结果  稳定性分析结果表明了ASV集群的抗干扰最优覆盖控制闭环系统的误差是有界的,仿真结果验证了该方法的有效性。
      结论  通过采用该抗干扰最优覆盖控制器,ASV集群可以在任意的初始位置实现对目标区域的最优覆盖。

     

    Abstract:
      Objectives  This paper addresses the anti-disturbance optimal coverage control of under-actuated autonomous surface vehicles (ASVs) in fixed ocean areas.
      Methods  At the kinematic level, the Voronoi tessellation is carried out based on the locations of adjacent ASVs and environmental density information, and guidance laws for under-actuated ASVs are designed to guide each ASV to the optimal target point. Next, considering model uncertainties and external disturbances due to wind, waves and ocean currents, at the kinetic level, a fixed-time extended state observer (FTESO) is developed and a fixed-time kinetic control law is designed on the basis of the FTESO.
      Results  Stability analysis shows that the error of the closed-loop anti-disturbance optimal coverage control system is bounded, and simulations are provided to demonstrate the effectiveness of the proposed method.
      Conclusions  By using the proposed coverage controller, ASVs are able to achieve the optimal coverage of the target area from any initial position.

     

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