吕旻高, 古楠, 刘陆, 等. 基于动态事件触发的多无人船协同路径跟踪控制[J]. 中国舰船研究, 2024, 19(X): 1–10. doi: 10.19693/j.issn.1673-3185.03774
引用本文: 吕旻高, 古楠, 刘陆, 等. 基于动态事件触发的多无人船协同路径跟踪控制[J]. 中国舰船研究, 2024, 19(X): 1–10. doi: 10.19693/j.issn.1673-3185.03774
shu
LYU M, GU N, LIU L, et al. Dynamic event trigger based cooperative path following control for multiple autonomous surface vehicles[J]. Chinese Journal of Ship Research, 2024, 19(X): 1–10 (in Chinese). doi: 10.19693/j.issn.1673-3185.03774
Citation: LYU M, GU N, LIU L, et al. Dynamic event trigger based cooperative path following control for multiple autonomous surface vehicles[J]. Chinese Journal of Ship Research, 2024, 19(X): 1–10 (in Chinese). doi: 10.19693/j.issn.1673-3185.03774
shu

基于动态事件触发的多无人船协同路径跟踪控制

Dynamic event trigger based cooperative path following control for multiple autonomous surface vehicles

    摘要
  • 摘要:
    目的 针对网络带宽资源受限、受模型不确定和外部环境扰动的多无人船，研究多无人船协同路径跟踪控制问题。
    方法 提出了一种基于动态事件触发的多无人船协同路径跟踪控制方法。首先，在协同层设计中，通过引入一个动态变量，设计了动态事件触发机制，进而设计了动态事件触发的路径参数更新律，用来降低网络通信量；并设计了路径参数预估器，以在通信间隔内对邻居无人船的路径参数进行预估。然后，在制导层设计中，设计了基于视距的制导律。最后，在控制层设计中，设计了超螺旋观测器来对总扰动进行估计，并基于估计的总扰动设计了超螺旋动力学控制律。
    结果 通过稳定性和芝诺分析，证明了闭环系统是输入-状态稳定的，并且所提方法不会发生芝诺现象。对比仿真结果验证了所提基于动态事件触发的无人船协同路径跟踪控制方法的有效性。
    结论 所提方法能够在保证协同路径跟踪效果的同时降低暂态和稳态时的网络通信量。

     

    Abstract:
    Objectives This paper addresses the cooperative path following control problem for multiple autonomous surface vehicles (ASVs) subject to limited network bandwidth, model uncertainties, and external disturbances.
    Methods A dynamic event-triggered cooperative path following control method is proposed. Specifically, a dynamic variable is introduced to design a dynamic event-triggered mechanism in the cooperation layer, and a dynamic event-triggered path parameter update law is designed to reduce network traffic. Additionally, a path parameter predictor is designed to estimate the path parameters of neighboring ASVs within the communication interval. In the guidance layer, a line of sight based guidance law is proposed. Finally, in the control layer, a super-twisting observer is employed to estimate the total disturbances, and a super-twisting dynamic control law is designed based on the estimated disturbances.
    Results Stability and Zeno behavior analysis demonstrate that the closed-loop system is input-to-state stable, and the proposed approach does not exhibit Zeno behavior. Comparative simulation results validate the effectiveness of the proposed dynamic event-triggered cooperative path following control method for ASVs.
    Conclusions The proposed method can achieve cooperative path following while reducing both transient and steady-state network traffic.

     

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