Sliding-mode formation control for underactuated surface vessels
Sliding-mode formation control for underactuated surface vessels
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DOI：
10.1109/tro.2007.898961
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发表时间：
2007-06-01
影响因子：
7.8
通讯作者：
Fahimi, Farbod
中科院分区：
文献类型：
--
作者：
Fahimi, Farbod
提出了一种用于控制多艘无人水面舰艇任意编队的滑模控制律。所提出的编队控制方法利用局部信息以及计划的总运动的形成，以实现网格的稳定性。一个三自由度的动态模型已被用于水面船只。假设每艘船舶只有两个执行器，并且船舶处于欠驱动状态。在设计控制器时考虑了动态模型中的网格稳定性、参数不确定性以及波浪干扰。结果表明，欠驱动系统的内部动力学也是稳定的。通过计算机仿真验证了该控制律在动力学模型参数不确定性、波浪扰动和编队网格稳定性等情况下的有效性和鲁棒性。
Sliding-m ode control laws for controlling multiple unmanned surface vessels in arbitrary formations are proposed. The presented formation control method uses local information as well as the planned gross motion of the formation to achieve mesh stability. A three-degree-of-freedom dynamic model has been used for the surface vessels. It is assumed that each vessel only has two actuators and the vessels are underactuated. Mesh stability and parameter uncertainty in the dynamic model and wave disturbance are considered in designing the controllers. It is shown that the internal dynamics of the underactuated system is also stable. The effectiveness and robustness of these control laws in the presence of parameter uncertainty in the dynamic model and wave disturbances and the mesh stability of the formation are demonstrated by computer simulation.