纵向速度和艏向角受限的水面艇有限时间协同路径跟踪

研究多个欠驱动水面艇在纵向速度和艏向角受限情况下的协同有限时间直线路径跟踪问题.针对水面艇在位置和速度方向上受到的干扰,考虑欠驱动水面艇同时受到匹配和不匹配扰动的情况,通过在控制方案中引入积分视线制导律和有限时间观测器来估计并补偿两类扰动.设计非对称障碍Lyapunov函数来保证欠驱动水面艇在航行过程中不违反约束条件,之后通过加入一个功率积分器构造有限时间控制器,确保系统误差能在有限时间内收敛到零.最后,通过Simulink仿真结果进一步表明所设计控制器的有效性.

Finite-time cooperative path following of surface vessels with surge velocity and yaw angle constraints

This paper addresses a straight-line finite-time path following cooperative control problem for multiple underactuated surface vessels(USVs) subjected to surge velocity and yaw angle constraints. Aiming at the navigation environment of USVs, we consider the matched and mismatched disturbances which are estimated and compensated by introducing the integral line-of-sight guidance law and finite-time observer in the control scheme. An asymmetric barrier Lyapunov function is designed to ensure the constraints are not violated during USV''s navigation. Then a finite-time controller is constructed via adding a power integrator to guarantee that the system error can converge to zero within finite time. Finally, the simulation results further show the effectiveness of the proposed method.