欠驱动无人船非奇异固定时间鲁棒包容控制

针对外界干扰下的欠驱动无人船包容控制问题,提出一种新型非奇异固定时间滑模控制策略.整个控制器设计过程分为运动学回路设计和动力学回路设计.在运动学回路设计中,利用图论知识和固定时间稳定性理论设计非奇异固定时间分布式虚拟控制律,使得所有跟随船在固定时间内收敛于领导船张成的凸包内;在动力学回路设计中,为实现对虚拟控制律的跟踪控制,利用固定时间滑模控制法设计鲁棒包容控制律.最后,证明系统跟踪误差在固定时间收敛于平衡点,且与船舶的初始状态无关.仿真结果验证了所提出控制策略的有效性.

Nonsingular fixed-time robust containment control for underactued unmanned surface vehicle

For the containment control problem of underactuated ships with external disturbances, a novel nonsingular fixed-time sliding control scheme is developed. The whole controller design process is divided into two steps: kinematics loop design and dynamics loop design. In the kinematic design, a new nonsingular fixed-time distributed virtual control law is designed by using graph theory knowledge and fixed-time stability theory,so that all the followers converge to the convex hull by a group of leaders in fixed time. In the dynamic design, in order to realize the tracking control of the virtual control law, a robust containment controller is developed through utilizing fixed-time sliding mode control. Subsequently, it is well proven that all the tracking errors could converge to the equilibrium point in fixed time without dependence of initial states of ships. Finally, the efficiency of the proposed methodology is illustrated by numerical simulation.