Cooperative control of multiple surface vessels with discrete‐time periodic communications
Cooperative control of multiple surface vessels with discrete‐time periodic communications
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DOI：
10.1002/rnc.1698
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发表时间：
2012-03
影响因子：
3.9
通讯作者：
J. Almeida;Carlos Silvestre;António Pascoal
中科院分区：
文献类型：
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作者：
J. Almeida;Carlos Silvestre;António Pascoal
本文研究了具有离散时间周期通信的网络化自主水面舰艇的协同路径跟踪问题。目标是引导一组自动驾驶车辆沿着给定的空间路径行驶，同时保持所需的车辆间编队模式。对于给定类别的船舶，我们展示了如何将基于李雅普诺夫的技术、图论和网络控制系统的结果结合在一起，产生一个分散的控制结构，其中明确考虑了合作船舶的动力学和车辆间通信网络拓扑所施加的约束。根据所采用的通信拓扑确定的其他船只子集的位置周期性交换的信息，通过调整每艘船只沿着其路径的速度来实现合作。通过将路径跟踪和合作策略放在一起获得的闭环系统采用相互关联的反馈形式，其中两个系统相对于彼此的输出是输入到状态稳定的。利用小增益定理，在适当选择控制器增益的情况下，保证了整个系统的稳定性和收敛性。版权所有©2011 John Wiley & Sons， Ltd
This paper addresses the problem of cooperative path‐following of networked autonomous surface vessels with discrete‐time periodic communications. The objective is to steer a group of autonomous vehicles along given spatial paths, while holding a desired inter‐vehicle formation pattern. For a given class of marine vessels, we show how Lyapunov‐based techniques, graph theory, and results from networked control systems can be brought together to yield a decentralized control structure where the dynamics of the cooperating vessels and the constraints imposed by the topology of the inter‐vehicle communication network are explicitly taken into account. Cooperation is achieved by adjusting the speed of each vessel along its path according to information exchanged periodically on the positions of a subset of the other vessels, as determined by the communications topology adopted. The closed‐loop system that is obtained by putting together the path‐following and cooperation strategies takes an interconnected feedback form where both systems are input‐to‐state stable with respect to the outputs of each other. Using a small‐gain theorem, stability and convergence of the overall system are guaranteed for adequate choices of the controller gains. Copyright © 2011 John Wiley & Sons, Ltd.