引用本文:黄兵,肖云飞,冯元,于秀萍.无人艇全分布式动态事件触发编队控制[J].控制理论与应用,2023,40(8):1479~1487.[点击复制]
HUNAG Bing,XIAO Yun-fei,FENG Yuan,YUN Xiu-ping.Fully distributed dynamic event-triggered formation control for multiple unmanned surface vehicles[J].Control Theory and Technology,2023,40(8):1479~1487.[点击复制]
无人艇全分布式动态事件触发编队控制
Fully distributed dynamic event-triggered formation control for multiple unmanned surface vehicles
摘要点击 4023  全文点击 508  投稿时间：2021-11-05  修订日期：2022-05-18
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DOI编号  10.7641/CTA.2022.11067
  2023,40(8):1479-1487
中文关键词  无人艇编队  全分布式  动态事件触发  协同跟踪控制  自适应控制
英文关键词  unmanned surface vehicles  fully distributed  dynamic event-triggered  cooperative control  adaptive control
基金项目  国家自然科学基金项目(51409059）
作者单位E-mail
黄兵* 哈尔滨工程大学 水下机器人技术国防科技重点实验室 binhuang@hrbeu.edu.cn 
肖云飞 哈尔滨工程大学 智能科学与工程学院  
冯元 哈尔滨工程大学 智能科学与工程学院  
于秀萍 哈尔滨工程大学 智能科学与工程学院  
中文摘要
      针对通信资源受限的多无人艇(USV)编队控制问题, 本文提出了一种动态事件触发数据传输机制以降低通信频率, 减少控制算法对系统带宽的占用. 首先, 基于滑模和自适应控制算法设计一种全分布式编队控制器, 使得所有编队成员在保持预设队形的同时能够完成对期望轨迹的跟踪. 与现有编队控制器相比, 该控制器不需要通信网络的全局信息. 然后, 基于Lyapunov稳定性理论证明了编队跟踪误差以及所有闭环信号都能达到稳定状态. 此外,该算法能够保证触发时间序列不表现出Zeno行为. 最后, 通过数值仿真验证了全分布式编队控制器的有效性
英文摘要
      This paper investigates the problem of fully distributed dynamic event-triggered formation control for multiple unmanned surface vehicles (USV) based on the sliding mode and adaptive control algorithm. Firstly, under the condition of limited communication resources, a novel dynamic event-triggered data transmission mechanism is proposed to reduce the communication frequency and bandwidth occupation. Compared with existing formation controllers, the controller does not require global information of the communication network. Then, a fully distributed formation controller is designed, which can make the tracking errors of multiple unmanned surface vehicles converge to a small region near the origin and all closed-loop signals reach a stable state even without knowing the relative speed information. Moreover, it is proved that the triggering time sequences do not exhibit Zeno behaviour under the proposed formation control algorithm. Finally, numerical simulation is performed to verify the effectiveness of the proposed distributed formation controller.