Qu Yaohong, Zhao Wenbi, Yu Ziquan, Xiao Bing
School of Automation, Northwestern Polytechnical University, Xi'an 710129, China.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China.
ISA Trans. 2022 Jun;125:699-706. doi: 10.1016/j.isatra.2021.12.007. Epub 2021 Dec 16.
This paper introduces a distributed containment control strategy for multiple unmanned surface vehicles (USVs) under the unknown external disturbances. The communication network of the USVs is a fixed, directed topology and only a part of the follower USVs can read the states of leader USVs. To guarantee the transient and steady-state performance of the system, the tracking errors are converted into new error functions. By utilizing the disturbance observer, the external disturbances are effectively estimated. According to the new group of errors, a distributed containment controller is proposed with the estimated external disturbances. Furthermore, using graph theory and Lyapunov approach, it is proved that all variables of the multiple USV systems are bounded and the tracking errors can be confined within the specified performance ranges. Finally, simulation results illustrate the effectiveness of the designed distributed containment controller.
本文介绍了一种在未知外部干扰下针对多艘无人水面舰艇（USV）的分布式包容控制策略。无人水面舰艇的通信网络是固定的有向拓扑结构，且只有部分跟随的无人水面舰艇能够读取领航无人水面舰艇的状态。为保证系统的暂态和稳态性能，将跟踪误差转换为新的误差函数。通过利用干扰观测器，有效估计了外部干扰。根据新的误差组，结合估计出的外部干扰，提出了一种分布式包容控制器。此外，利用图论和李雅普诺夫方法，证明了多无人水面舰艇系统的所有变量都是有界的，并且跟踪误差能够被限制在指定的性能范围内。最后，仿真结果说明了所设计的分布式包容控制器的有效性。
