模型不确定下无人艇协同目标跟踪控制

Cooperative target tracking by multiple unmanned surface vehicles subject to model uncertainties

中文关键词  无人艇  分布式扩张状态观测器  协同目标跟踪  抗干扰控制

英文关键词  unmanned surface vehicles  distributed extended state observer  cooperative target tracking  antidisturbance control

中文摘要

      本文针对感知信息不完全、模型参数不确定、海洋环境扰动下的多无人艇系统, 文章提出了分布式分层协 同目标估计与控制结构. 在通信层级, 本文设计了基于单向通信拓扑的分布式扩张状态观测器, 实现了对非合作目 标速度与位置的分布式估计; 在控制层级, 设计了仅需要相对视距距离的降维扩张状态观测器, 不仅实现了对未知 动力学不确定性的估计, 而且简化了观测器的结构. 本文设计了基于降维扩张状态观测器的抗干扰位置跟踪控制 律, 提高了协同目标跟踪的抗干扰能力. 文章采用级联系统稳定性分析证明了闭环系统是输入状态稳定的. 此外, 本文证明了闭环系统内跟踪误差是一致最终有界的. 仿真结果验证了所提方法的有效性.

英文摘要

      For the multiple unmanned surface vehicle system with incomplete sensing information, the model parameters uncertainty, and the marine environment disturbance, a distributed hierarchical cooperative target estimation and tracking control structure is proposed. At the communication level, a distributed extended state observer based on the unidirectional communication topology is designed. The speed and location of noncooperative target are estimated. At the control level, a reduced-order extended state observer requiring only relative distance is designed, while not only realizes the synchronous estimation of the unknown dynamic uncertainty, but also simplifies the structure of the observer. In this paper, an anti-disturbance position tracking control law based on the reduced-order extended state observer is designed to improve the anti-interference ability of the cooperative target tracking control system is improved. The input-to-state stability of the closed-loop system is analyzed via cascade theory. Besides, the tracking errors are uniformly ultimately bounded. Simulations verify the effectiveness of the proposed control method.