Ship Formation Control: A Guided Leader-Follower Approach
Ship Formation Control: A Guided Leader-Follower Approach
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DOI：
10.3182/20080706-5-kr-1001.02706
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
M. Breivik;Vegard Hovstein;T. Fossen
中科院分区：
文献类型：
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作者：
M. Breivik;Vegard Hovstein;T. Fossen
摘要本文研究了全驱动船舶的编队控制问题。在一个领导者-跟随者的框架内，一个所谓的引导编队控制方案是通过一个模块化的设计过程的启发，从积分反推和级联理论的概念。控制、引导和同步法则确保每个单独的编队构件能够收敛到并保持其指定的编队位置，使得整个编队能够在穿越由编队控制设计者选择的任意的、规则参数化的路径的同时组装并保持自身。该方法的一个关键的新奇是推导出适用于曲线路径的偏离路径遍历的制导律。通过一个包含三艘全驱动船舶的计算机模拟，说明了与该方案相关的舵手式瞬态运动行为。
Abstract This paper considers the topic of formation control for fully actuated ships. Within a leader-follower framework, a so-called guided formation control scheme is developed by means of a modular design procedure inspired by concepts from integrator backstepping and cascade theory. Control, guidance, and synchronization laws ensure that each individual formation member is able to converge to and maintain its assigned formation position such that the overall formation is able to assemble and maintain itself while traversing an arbitrary, regularly parameterized path that is chosen by a formation control designer. A key novelty of the approach is the derivation of guidance laws that are applicable to off-path traversing of curved paths. The helmsman-like transient motion behavior associated with the scheme is illustrated through a computer simulation involving three fully actuated ships.