Finite Time Synchronized Formation Control of Unmanned Surface Vehicles With External Disturbances

被引：0
|
作者：
Wang D.-S. [1 ]
Li D.-Y. [2 ]
Liang X.-L. [3 ]
机构：
[1] College of Electrical and Photo electronic Engineering, West Anhui University, Lu＇an
[2] School of Cyber Science and Technology, Beihang University, Beijing
[3] College of Marine Engineering, Dalian Maritime University, Dalian
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2024年 / 50卷 / 05期
基金：
中国国家自然科学基金;
关键词：
disturbance observer; finite time control; formation; Time-synchronous control; unmanned surface vehicles;
D O I：
10.16383/j.aas.c230550
中图分类号：
学科分类号：
摘要：
A finite time synchronization control framework for unmanned surface vehicles is proposed to address the issue of different convergence times of various states in finite time control. The finite time synchronization formation control method designed under this framework can cleverly achieve that all degrees of freedom errors of unmanned surface vehicles converge to an equilibrium point at the same time. Firstly, to address the issue of incompatibility between existing disturbance observers and time synchronization stabilization frameworks, a finite time synchronization disturbance observer is designed. Furthermore, utilizing the ratio persistence property, a finite time synchronous formation controller is designed, and the stability of the proposed control algorithm is demonstrated. Finally, simulation research was conducted on three unmanned surface vehicles, and the results verified the effectiveness and superiority of the proposed control algorithm. The control method proposed in this article has practical significance for the fields of navigation, aerospace, and industry that require time-synchronous control. © 2024 Science Press. All rights reserved.
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页码：1047 / 1058
页数：11
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