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A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles
Complexity ( IF 2.462 ) Pub Date : 2021-01-13 , DOI: 10.1155/2021/6695221
Hui Ye; Xiaofei Yang; Chunxiao Ge; Zhaoping Du

The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. Then, the finite-time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret-Frenet frame. In order to maintain the formation pattern, two finite-time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy.

中文翻译:

欠驱动无人水面舰艇编队的分阶段有限时间控制策略

讨论了一组欠驱动无人水面舰艇的编队控制问题,并提出了一种分阶段的有限时间控制策略。首先,在每种车辆随机停放的初始条件下,我们试图在有限的时间内将每个USV引导至编队的起点。为了处理系统的非完整行为,USV的动力学被转换为级联系统。然后,基于均匀性理论为每辆车设计了有限时间控制器。在每个USV以所需的方向到达其自身的起点之后,将车辆的模型分解为Serret-Frenet框架下的两个子系统。为了维持形成形态,分别为喘振子系统和偏航子系统开发了两个有限时间分布式控制器。分阶段控制策略的建立时间有限。进行了数值模拟,以说明所提出的地层控制策略的有效性。
更新日期:2021-01-13
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