Swarm velocity guidance based distributed finite-time coordinated path-following for uncertain under-actuated autonomous surface vehicles
Swarm velocity guidance based distributed finite-time coordinated path-following for uncertain under-actuated autonomous surface vehicles
复制标题
基于群体速度制导的分布式有限时间协调路径跟随不确定欠驱动自主地面车辆
DOI：
10.1016/j.isatra.2020.11.025
复制
发表时间：
2021
期刊：
影响因子：
7.3
通讯作者：
Li Ye
中科院分区：
文献类型：
--
作者：
Liang Xiao;Qu Xingru;Wang Ning;Li Ye
本文主要研究网络群内欠驱动自主地面车辆（ASV）的分布式有限时间协调路径跟踪问题。集群系统中的每个车辆都受到速度限制和多种不确定性的影响，包括参数扰动和时变环境扰动。基于所构建的仿生群体模式和势函数，开发了具有自组织和防撞功能的群体速度制导（SVG），以同时引导ASV浪涌速度和航向角。通过在车辆模型中添加修正项的分布式观测器来识别集总不确定性，并将估计值用作前馈补偿，以削弱不确定性影响，从而实现较高的跟踪精度。利用非对称障碍Lyapunov函数，设计了物理限制下基于不确定性观测器的分布式浪涌和航向动力学控制器，以保证SVG产生的引导信号在有限时间内被跟踪。通过群体路径跟踪的仿真研究，证明了所设计的控制方法对于多个不确定的欠驱动 ASV 是可行且有效的。
This article mainly researches the problem of distributed finite-time coordinated path-following for under-actuated autonomous surface vehicles (ASVs) within a network swarm. Each vehicle in swarm system suffers from velocity restrictions and multiple uncertainties including parameter perturbations and time-varying environment disturbances. Based on the constructed bionic swarm pattern and potential function, the swarm velocity guidance (SVG) with self-organization and collision avoidance is developed to guide ASV surge velocities and heading angles simultaneously. A distributed observer by adding correction terms to the vehicle model is involved to identify the lumped uncertainties, and the estimations are utilized as feed-forward compensation to weaken the uncertainty impact, thus achieving high tracking precision. By using asymmetric barrier Lyapunov function, the uncertainty observer based distributed surge and heading kinetics controllers under physical restrictions are devised to guarantee that the guided signals generated by SVG are tracked within finite time. Through simulation studies of swarm path-following, it is demonstrated that the designed control approach is feasible and efficient for multiple uncertain under-actuated ASVs.