摘要
随着海上任务越来越复杂,许多作业过程要求多艘船舶相互协调.本文结合了虚拟领航者协调策略和无源性理论控制方法的各自优势,提出了一种基于虚拟领航者的无源协调控制方法,来解决多艘船舶的协调路径跟踪问题.通过对虚拟领航者设计路径跟踪控制器,使其领导作业船舶按着指定的路径进行协调作业,同时定义每艘船舶的队形参考点,应用无源性理论设计同步控制器使所有船舶的参考点趋于一致,最终实现多艘船舶按一定的队形进行协调路径跟踪.最后通过仿真实验验证了所提算法的有效性.
With the increasing complexity of marine missions, it is necessary to carry out the tasks through coordination of multiple vessels. This study addresses the problem of coordinated path following for multiple vessels. The authors show how the virtual leader strategy and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader. Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point. The consensus of formation reference point is realized by using the synchronization controller based on passivity. Finally, simulation results show the effectiveness of the proposed coordinated algorithm.
出处
《自动化学报》
EI
CSCD
北大核心
2014年第3期439-448,共10页
Acta Automatica Sinica
基金
高技术船舶科研项目(Z12SJENA0011)
国家科技重大专项子课题(2011ZX05027-002)资助~~
关键词
协调控制
虚拟领航者
无源性
船舶控制
路径跟踪
Coordinated control
virtual leader
passivity
vessels control
path following
