引用本文:张国庆,刘上,郎雷,张卫东.具有速度调节机制的船舶事件触发编队控制[J].控制理论与应用,2022,39(12):2377~2384.[点击复制]
ZHANG Guo-qing,LIU Shang,LANG Lei,ZHANG Wei-dong.Event-triggered formation control for underactuated ships with the speed regulating mechanism[J].Control Theory and Technology,2022,39(12):2377~2384.[点击复制]
具有速度调节机制的船舶事件触发编队控制
Event-triggered formation control for underactuated ships with the speed regulating mechanism
摘要点击 859  全文点击 298  投稿时间：2021-05-03  修订日期：2023-02-19
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DOI编号  10.7641/CTA.2022.10376
  2022,39(12):2377-2384
中文关键词  欠驱动船舶  速度调节  事件触发控制  领导–跟随  自适应控制
英文关键词  underactuated ship  speed regulating  event-triggered control  leader-follower  adaptive control
基金项目  国家自然科学基金项目(52171291, 51909018), 辽宁省自然科学基金机器人联合基金项目(20180520039), 大连市杰出青年科技人才项目 (2022RJ07)资助.
作者单位E-mail
张国庆* 大连海事大学航海学院 zgq_dlmu@163.com 
刘上 大连海事大学航海学院  
郎雷 沈阳新松机器人自动化股份有限公司  
张卫东 大连海事大学航海学院  
中文摘要
      针对实际海洋环境下, 欠驱动水面船舶(USV)编队控制任务中存在控制输入频繁抖振、模型结构未知和航行速度难以控制等问题, 本文提出一种具有速度调节性能的事件触发编队控制算法. 首先, 该算法采用径向基神经网络(RBF–NN)对模型结构不确定进行逼近. 同时, 为了减少控制输入频繁抖振和通信信道占用次数, 设计了一种满足控制器与神经网络权重估计器同步触发的事件触发机制. 其次, 针对现有领导–跟随方法中存在的领导船速度信息不可知、跟随船速度不可控的问题, 设计了一种自适应速度调节器, 使跟随船在不需要领导船速度信息的情况下实时地调节航行速度. 利用李雅普诺夫稳定性理论证明了所提控制算法满足半全局一致最终有界收敛. 最后, 通过仿真实验验证了所提出算法的有效性.
英文摘要
      This paper focuses on the formation control problem for the underactuated surface vehicles (USVs) suffering from the frequent chattering of control input, unknown structure and the difficulty in controlling the navigational speed. For this purpose, an event-triggered formation control scheme with the speed regulating mechanism is proposed. In this scheme, the radial basic function neural network (RBF–NN) is introduced to approximate the structure uncertainty. Meanwhile, to reduce the frequent chattering of control input and the occupancy rate of communication channel, an event-triggered mechanism is designed to guarantee that both the controller and the weight estimator are triggering simultaneously. Furthermore, to overcome the problems of leader’s unavailable velocity and speed control of followers, an adaptive speed regulator is developed to adjust the follower’s velocity without obtaining the leader’s speed information. Through the Lyapunov theory, all error variables satisfy the semi-global uniform ultimate bounded stability. Finally, the effectiveness of the proposed algorithm is verified by the comparative simulation.