Liu Lu, Wang Dan, Peng Zhouhua, Li Tieshan, Chen C L Philip
IEEE Trans Cybern. 2020 Apr;50(4):1519-1529. doi: 10.1109/TCYB.2018.2883335. Epub 2018 Dec 10.
This paper addresses the cooperative path following the problem of ring-networked under-actuated autonomous surface vehicles on a closed curve. A cooperative guidance law is proposed at the kinematic level such that a symmetric formation pattern is achieved. Specifically, individual guidance laws of surge speed and angular rate are developed by using a backstepping technique and a line-of-sight guidance method. Then, a coordination design is proposed to update the path variables under a ring-networked topology. The equilibrium point of the closed-loop system has been proven to be globally asymptotically stable. The result is extended to the cooperative path following the lack of sharing of a global reference velocity, and a distributed observer is designed to recover the reference velocity to each vehicle. Moreover, the cooperative path following the presence of an unknown sideslip is considered, and an extended state observer is developed to compensate for the effect of the unknown sideslip. Both simulation and experimental results are provided to illustrate the effectiveness of the proposed cooperative guidance law for the path following over a closed curve.
本文研究了环形网络欠驱动自主水面航行器在封闭曲线上的协同路径跟踪问题。在运动学层面提出了一种协同制导律，以实现对称编队模式。具体而言，利用反步法和视线制导方法分别制定了纵向速度和角速度的个体制导律。然后，提出了一种协调设计方法，用于在环形网络拓扑结构下更新路径变量。已证明闭环系统的平衡点是全局渐近稳定的。该结果被扩展到缺乏全局参考速度共享情况下的协同路径跟踪，并且设计了一个分布式观测器来为每艘船舶恢复参考速度。此外，考虑了存在未知侧滑时的协同路径跟踪问题，并开发了一个扩展状态观测器来补偿未知侧滑的影响。通过仿真和实验结果说明了所提出的协同制导律对于在封闭曲线上进行路径跟踪的有效性。
