Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway
Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway
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DOI：
10.1109/tits.2019.2912389
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发表时间：
2020-05-01
影响因子：
8.5
通讯作者：
Jaulin, Luc
中科院分区：
文献类型：
--
作者：
Viel, Christophe;Vautier, Ulysse;Jaulin, Luc
本文研究了异构帆船编队航行的控制问题。编队航行保持帆船之间的恒定时间间隔（CTH）遵循圆形路径，由于风向的影响，帆船是一个复杂的问题。首先，基于CTH和帆船速度收敛到队列所需的期望加速度被定义。第二，提出了一种帆船定向控制方法来控制帆船的加速度。所提出的编队策略适应了帆船不同于其他机动海上车辆的具体特点。该方法可以使用两种策略：第一种是调节帆船的速度;第二种是在风的前面，同时保持在一个短的走廊中。推导并验证了实现编队运动所需的加速度。仿真结果表明，与最优滚动时域控制算法相比，所提出的方法是有效的。
This paper addresses the problem of platooning control for a fleet of heterogeneous sailboats. The platooning maintains a constant time headway (CTH) between sailboats following a circular path, a complex problem for sailboats due to the influence of wind direction. First, the desired acceleration based on the CTH and the sailboat velocity needed to converge to the platooning is defined. Second, a control of sailboat orientation to manage the sailboat acceleration is proposed. The proposed platooning strategy adapts to the specific characteristics of sailboats, which are different from other motorized marine vehicles. Two tack strategies can be used for the method: the first is to regulate the sailboat velocity; the second is to go front of the wind while staying in a short corridor. The desired acceleration for fulfilling the platooning has been derived and validated. The simulation results demonstrate the effectiveness of the proposed approach in comparison with an optimal receding horizon control algorithm.