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通过可重新配置的层次拓,通过NN控制的多艘无人水面船的封闭控制

Wei Liu¹, Fei Teng², Huiyu Xiao²

¹School of Navigation, Dalian Maritime University, Dalian, China.

Frontiers in computational neuroscience

|November 6, 2023

概括

本研究介绍了多个无人水面船的层次控制框架,通过自适应神经网络和拓重新配置来确保安全的导航和避免碰撞,以实现强大的领导跟随者同步.

科学领域:

机器人技术机器人技术机器人技术
控制系统控制系统
海洋工程海洋工程

背景情况:

由于非线性动态和潜在的通信问题,多艘无人水面船 (USV) 的合作控制带来了挑战.
在封闭控制系统中实现领导跟随者同步对于协调的海上作战至关重要.

研究的目的:

为多个USV的封闭控制提出一个新的层次控制框架.
使用神经网络 (NN) 来解决非线性动态和不确定性.
通过拓重新配置机制确保系统连接并防止碰撞.

主要方法:

一个分层的控制框架,整合一个光视线 (LOS) 指导策略.
利用神经网络 (NN) 来处理系统的不确定性.
在追随者层实现连接控制器,在追随者层进行拓重新配置.

主要成果:

拟议的框架成功地将封闭控制转化为参考信号跟踪问题.
神经网络有效地管理控制系统中的不确定性.
拓重新配置机制可以防止碰撞,并保持连接,即使在通信条件不佳的情况下.

结论:

层次控制框架对于多个USV的封闭控制是有效的.
整合NN和拓重新配置可以提高系统的稳定性和安全性.
模拟验证了拟议的控制策略的实际应用.

关键词:

他们失去了引导,他们失去了引导.封闭控制器的控制控制器层次化通信拓学层次化通信拓学神经网络控制神经网络控制拓结构重新配置的重构.

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