无人船集群的间歇自适应编队控制研究
作者:
作者单位:

南京信息工程大学自动化学院

中图分类号:

TP13

基金项目:

国家自然科学基金(62073169); 教育部产学合作协同育人项(231000782270057)


Intermittent adaptive formation control study of unmanned surface vessel clusters
Author:
Affiliation:

School of Automation,Nanjing University of Information Science and Technology

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    摘要:

    在领导者-跟随者结构下,基于间歇事件触发机制,本文研究具有二阶动态的无人船集群的有限时间编队制问题。首先,借助于自适应神经网络的技术,估计系统模型中的未知非线性项。其次,为节省通信能源并加快集群系统的收敛速度,提出一种分段的间歇事件触发自适应编队控制协议。然后,利用李雅普诺夫稳定和有限时间等理论,得到了无人船集群在有限时间内快速形成编队的充分条件。最后,通过仿真示例验证了所提算法的有效性和优越性。

    Abstract:

    Under the leader-follower structure, based on the intermittent event-triggered mechanism, this paper investigates the finite-time formation system problem for unmanned surface vessel clusters with second-order dynamics. Firstly, by using adaptive neural network techniques, unknown nonlinear items are estimated in the systems model. Secondly, a kind of formation control protocol is proposed based on segmented intermittent event-triggered and adaptive methods to reduce communication energy consumption and accelerate cluster convergence. Then, a sufficient condition for unmanned surface vessel clusters to rapidly form formations in finite-time is obtained using theories such as Lyapunov stabilization and finite time. Finally, simulation examples validate the superiority and effectiveness of the proposed algorithms in the paper.

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刘尔亮,刘平英,苗国英.无人船集群的间歇自适应编队控制研究[J].南京信息工程大学学报,,():

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  • 收稿日期:2024-06-25
  • 最后修改日期:2024-09-27
  • 录用日期:2024-09-27

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