具有未知动态的船舶编队输出反馈控制
Ship formation control via output feedback with unknown dynamics

研究了仅利用相对位置信息和相对航向信息的船舶编队输出反馈控制问题. 首先使用leader-follower策略, 建立了船舶编队的运动学模型. 然后应用微分同胚变换将系统解耦成3个子系统. 根据船舶低频运动的特点, 在跟 随船水动力学模型中粘性水动力和力矩未知以及所有船舶速度都不可测量的假定下, 提出了一种高增益广义比例 积分观测器来估计这些未知和不可测量动态. 在高增益广义比例积分观测器的基础上, 分别设计了线性输出反馈 控制器和输入饱和受限的输出反馈控制器, 并分析了闭环系统的稳定性. 最后仿真结果表明了方法的有效性.
This paper focuses on the ship formation control problem via output feedback, with only the information of the relative positions and relative heading angles available. Firstly, the kinematic model of the ship formation is established using the leader-follower strategy. Then the system is decoupled into three subsystems via the diffeomorphism transformation. According to the low frequency characteristics of the ship motion, and the assumption that the viscous hydrodynamic forces and moments in the hydrodynamic models of the follower ships are unknown and the velocities of all the ships are unmeasurable, the high-gain generalized proportion-integral observers are proposed to estimate the unknown and unmeasurable dynamics. On the basis of the high-gain generalized proportion-integral observers, the linear output feedback controllers and the output feedback controllers with input saturation are designed respectively, and the stability of the closed-loop systems is analyzed. Finally, the simulation results show the effectiveness of the proposed approach.