Output-Feedback Cooperative Formation Maneuvering of Autonomous Surface Vehicles With Connectivity Preservation and Collision Avoidance
Output-Feedback Cooperative Formation Maneuvering of Autonomous Surface Vehicles With Connectivity Preservation and Collision Avoidance
复制标题
具有连接保持和避免碰撞功能的自主地面车辆的输出反馈协作编队机动
DOI：
10.1109/tcyb.2019.2914717
复制
发表时间：
2020-06-01
影响因子：
11.8
通讯作者：
Han, Min
中科院分区：
文献类型：
--
作者：
Peng, Zhouhua;Wang, Dan;Han, Min
本文研究了具有位置-航向测量的自动水面车辆（asv）车队具有连通性和避碰的时变协同编队机动问题。由于内部模型的不确定性和外部干扰，每辆车都受到未知动力学的影响。首先，利用非线性状态观测器恢复未测量的线速度和横摆角速度以及未知的不确定性和干扰。然后，基于人工势函数、非线性跟踪微分器和反演技术，设计了基于观测器的协同时变编队机动控制律。基于输入状态稳定性和串级稳定性分析了闭环分布式编队控制系统的稳定性。该方法的显著特点如下：首先，在没有速度测量的情况下，可以实现具有连通性保持和避碰能力的协同时变编队机动。其次，在不采用动态地面控制的情况下，降低了时变协同编队机动控制律的复杂性。第三，在有位置-航向测量的情况下，主动抑制不确定度和干扰。仿真结果验证了基于连接保持和避碰的自动驾驶汽车协同时变编队机动的输出反馈控制方法。
In this paper, a cooperative time-varying formation maneuvering problem with connectivity preservation and collision avoidance is investigated for a fleet of autonomous surface vehicles (ASVs) with position-heading measurements. Each vehicle is subject to unknown kinetics induced by internal model uncertainty and external disturbances. At first, a nonlinear state observer is used to recover the unmeasured linear velocity and yaw rate as well as unknown uncertainty and disturbances. Then, observer-based cooperative time-varying formation maneuvering control laws are designed based on artificial potential functions, nonlinear tracking differentiators, and a backstepping technique. The stability of closed-loop distributed formation control system is analyzed based on input-to-state stability and cascade stability. The salient features of the proposed method are as follows. First, cooperative time-varying formation maneuvering with the capability of connectivity preservation and collision avoidance can be achieved in the absence of velocity measurements. Second, the complexity of the cooperative time-varying formation maneuvering control laws is reduced without resorting to dynamic surface control. Third, the uncertainty and disturbance are actively rejected in the presence of position-heading measurements. Simulation results are given to substantiate the proposed output feedback control method for cooperative time-varying formation maneuvering of ASVs with connectivity preservation and collision avoidance.