主-从自治海上航行器有限时间同步运动控制

研究主-从自治海上航行器有限时间同步运动问题, 提出一种可实现主-从自治海上航行器的位置、姿态、线速度、角速度、线加速度和角加速度等运动状态有限时间同步的连续状态反馈控制方法. 首先, 通过建立主、从自治海上航行器的动力学模型, 给出了主-从同步运动控制方案; 然后, 采用齐次系统有限时间稳定性理论, 为从自治海上航行器设计了一种连续状态反馈控制器, 以及在该控制器下实现主-从自治海上航行器有限时间同步运动的充分性判据, 并通过实例仿真进行了验证.

Finite-time synchronized motion of master-slave autonomous marine vehicles

The synchronized motion of master-slave autonomous marine vehicles is investigated, and a continuous states feedback controller is proposed for achieving finite-time synchronization of the motional states of both master vehicle and slave vehicle, including position, orientation, linear velocity, angular velocity, linear acceleration and angular acceleration. Firstly, dynamical models of both master vehicle and slave vehicle are mathematically given, and then a master-slave synchronization scheme is established. By means of the finite-time stability theory for the homogeneous system, a continuous states feedback controller for the master vehicle and slave vehicle realizing synchronized motion in finite time is designed, and the sufficient criterion is given correspondingly. Simulation results show the validity of the main conclusion.