Optimal trajectory tracking control of unmanned surface vehicle formation under unknown disturbances
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摘要: 摘 要：【目的】针对无人艇编队轨迹跟踪中存在的未知扰动和队形变化问题，提出一种基于有限时间扰动观测器的最优反步控制（Finite-time Disturbance Observer-based Optimal Backstepping Control，FDO-OBC）方法。【方法】首先，基于虚拟结构法，建立无人艇编队控制框架，设计运动学和动力学编队控制器；其次，设计有限时间扰动观测器，实时估计补偿未知环境扰动；进而，针对编队队形变化的轨迹跟踪问题，提出基于最优反步控制的动态轨迹优化策略，并利用扰动观测器信息计算最优控制输入，实现无人艇编队轨迹跟踪的动态优化；最后，采用Lyapunov稳定性理论证明所设计编队控制方法的稳定性。【结果】仿真结果表明所提出的控制策略能够有效提高无人艇编队系统的精确性和鲁棒性。【结论】面向扰动环境下的无人艇编队控制系统设计，基于有限时间扰动观测器的最优反步控制方法提供新的技术手段。Abstract: Abstract：[Objectives] An Finite-time Disturbance Observer-based Optimal Backstepping Control method is proposed for the issue of unknown disturbances and formation changes in the formation trajectory tracking of Unmanned Surface Vehicles (USVs). [Methods] Firstly, the formation control framework of the USVs is established based on the virtual structure method, and the kinematics and dynamics formation controller are designed. Secondly, a finite-time disturbance observer is introduced to estimate and compensate the unknown environmental disturbances in real time. Further, the dynamic trajectory optimization strategy based on optimal backstepping control is proposed for the trajectory tracking issue of formation change, and the information of the disturbance observer is used to calculate the optimal control input to achieve the dynamic optimization of the trajectory tracking of the USVs formation. Finally, Lyapunov stability theory is used to demonstrate the stability of the designed formation control method. [Results] The simulation results indicate that the proposed control strategy can effectively improve the accuracy and robustness of the USVs formation system. [Conclusions] The optimal backstepping control method based on finite-time
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