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Control de Reunión Robusto y Conservador de Seguridad para Vehículos Marinos Heterogéneos Coordinados: Un Enfoque de
IEEE transactions on cybernetics
|January 21, 2026
Resumen
Este estudio presenta un novedoso control basado en observador para vehículos submarinos no tripulados (UUV) y vehículos de superficie autónomos (ASV) coordinados. El método garantiza una reunión dinámica 3D segura y estable a pesar de las incertidumbres y las perturbaciones.
Área de la Ciencia:
- Robótica y Sistemas de Control
- Ingeniería Marina
- Sistemas Autónomos
Sus antecedentes:
- El control coordinado de vehículos marinos heterogéneos como UUV y ASV es complejo.
- Las incertidumbres hidrodinámicas y las perturbaciones externas plantean importantes desafíos para una reunión segura.
- Los métodos de control existentes pueden tener dificultades con la robustez y la preservación de la seguridad.
Objetivo del estudio:
- Desarrollar un enfoque de control de reunión basado en observador y que preserve la seguridad para sistemas UUV-ASV.
- Estabilizar de forma robusta los errores de reunión dentro del marco de Puerto-Hamiltoniano (PH).
- Reducir la complejidad del diseño del controlador garantizando al mismo tiempo trayectorias sin colisiones.
Principales métodos:
- Utilización del marco de control basado en pasividad de asignación de interconexión y amortiguación (IDA-PBC).
- Implementación del control de rendimiento prescrito (PPC) para el movimiento ascendente que preserva la seguridad.
- Diseño de un observador de incertidumbre de mantenimiento de estructura para manejar las incertidumbres del modelo y las perturbaciones.
Principales resultados:
- Eficaz demostración de la estabilización de los errores de reunión UUV-ASV a través de un análisis riguroso.
- Reducción de la complejidad del diseño del controlador y logro de trayectorias de reunión suaves y sin colisiones.
- Simulaciones y experimentos validaron la efectividad y las ventajas del enfoque propuesto.
Conclusiones:
- El control de reunión propuesto basado en observador y que preserva la seguridad es eficaz para sistemas UUV-ASV coordinados.
- La integración de IDA-PBC y PPC ofrece una solución robusta bajo incertidumbres.
- El enfoque mejora la seguridad y simplifica el diseño del control para la coordinación compleja de vehículos marinos.
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