Wang Ning, Li He
School of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China.
School of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China.
ISA Trans. 2022 May;124:356-364. doi: 10.1016/j.isatra.2020.05.042. Epub 2020 May 30.
In this paper, a novel fixed-time controller (FTC) strategy based on leader-follower mechanism and finite-time disturbance observer (FDO) is proposed for surface vehicles (SVs) formation suffering from complex unknowns. The excellent features of designed strategy are shown below: (1) A fixed-time tracking control (FTTC) approach combining with integral sliding mode (ISM) technology is devised for a nominal leader SV such that fixed-time stability can be ensured; (2) To achieve formation efficiently, a fixed-time formation controller (FTFC) strategy incorporating with backstepping technology is proposed for coordinating follower SVs; (3) Considering complex disturbances in the entire formation system, finite-time disturbance observers (FDOs) are injected into the FTFC framework which in turn contributes to accurate formation control with fixed-time convergence. Finally, simulation results demonstrate remarkable performance of the proposed FDO-FTFC scheme.
本文针对存在复杂未知因素的水面舰艇（SV）编队，提出了一种基于领导者 - 跟随者机制和有限时间干扰观测器（FDO）的新型固定时间控制器（FTC）策略。所设计策略的优异特性如下：（1）为标称领导者SV设计了一种结合积分滑模（ISM）技术的固定时间跟踪控制（FTTC）方法，以确保固定时间稳定性；（2）为有效实现编队，提出了一种结合反步法技术的固定时间编队控制器（FTFC）策略，用于协调跟随者SV；（3）考虑到整个编队系统中的复杂干扰，将有限时间干扰观测器（FDO）注入到FTFC框架中，这有助于实现具有固定时间收敛的精确编队控制。最后，仿真结果证明了所提出的FDO - FTFC方案具有卓越的性能。
