Finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and disturbances
Finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and disturbances
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DOI：
10.1016/j.oceaneng.2018.04.016
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发表时间：
2018-07-01
影响因子：
5
通讯作者：
Yu, Lingling
中科院分区：
文献类型：
--
作者：
Fu, Mingyu;Yu, Lingling
研究了具有输入饱和和外部扰动的水面航行器基于有限时间扩张状态观测器的分布式编队控制问题。首先，提出了一种新的有限时间扩展状态观测器来同时估计不可用的速度测量和外部扰动。不再将外部扰动的时间导数视为零，通过将扰动转化为待估计系统的扩展状态，设计了有限时间扩展状态观测器。然后，基于估计值设计了分布式有限时间编队控制器，用于跟踪时变的虚拟领航者。虚拟领导的位置状态只能由小组成员的子集访问。此外，在控制器中加入了饱和函数，以解决输入饱和问题。最后，利用齐次方法和Lyapunov理论证明了所提出的扩张状态观测器和编队控制器的有限时间稳定性。数值仿真验证了所提编队控制方案的有效性。
This paper investigates the finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and external disturbances. Initially, a novel finite-time extended state observer is proposed to estimate the unavailable velocity measurements and external disturbances simultaneously. No longer regarding the time derivative of external disturbances as zero, the proposed finite-time extended state observer is designed by transforming the disturbances as an extended state of the system to be estimated. Then, based on the estimated values, a distributed finite-time formation controller is designed for a group of marine surface vehicles to track a time-varying virtual leader. The position state of virtual leader only can be accessed by a subset of the group members. Furthermore, a saturation function is incorporated into the controller to solve the input saturation problem. Finally, a rigorous Proof demonstrates that the finite-time stability of the proposed extended state observer and formation controller can be guaranteed by using homogeneous method and Lyapunov theory. Numerical simulations illustrate the effectiveness of the proposed formation control scheme.