基于虚拟领航者的船舶无源协调编队控制研究

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.

Passive Coordinated Formation Control for Vessels Based on Virtual Leader

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.