基于领导跟随的欠驱动船舶编队跟踪控制

针对具有三自由度欠驱动水面船舶编队控制问题，提出一种基于领导跟随( Leader /Follower) 结构的欠驱动水面船舶队形跟踪控制方法。当系统接收到队形控制指令，每个欠驱动水面船舶按照自己在编队中的角色进行控制，其中Leader 根据任务中的队形指令完成航迹跟踪控制，而Followers 则依据Leader 的信息和航行中任务中的队形指令完成航迹跟踪控制。在航迹跟踪控制中，根据期望队形任务指令为每个船舶设计需要跟踪的参考路径和速度指令; 基于Lyapunov 理论和重定义输出方法设计非线性速度控制器和路径跟踪控制器跟踪设计路径和速度指令; 稳定性分析证明了队形跟踪误差是一致最终稳定的。仿真结果表明船舶可以跟踪任意期望曲线队形，从而验证了方法的有效性。

Leader/Follower Formation Control of Underactuated Surface Ships

The formation control for underactuated surface ships with 3 degree － of － freedom is investigated，and the shape trackingcontrollers based on Leader /Follower method are developed． The ship is controlled respective，when the system received the shape-command．The Leader tracked the shape-command directly，and the Followers tracked the designed trajectory，which is designed by theshape-command and the state of the Leader． For the design of tracking control，firstly，reference tracking path and reference forwardspeed are designed based on desired formation shape． Secondly，path tracking controller and speed tracking controller are constructed bynonlinear control theory and Lyapunov theory． Finally，the shape tracking error of the follower is uniformly ultimately bounded． Numericalsimulations show the system can tracking any curves． The results validate the effectiveness of proposed controller．