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对于具有输入和的多个无人地面车辆,具有强大的预定义的固定时间形成-控制控制.

Yong Chen1, Jinlong Huang1, Fuxi Niu1

  • 1School of Automation, Central South University, Changsha, 410004, China.

ISA transactions
|June 24, 2025
PubMed
概括

本研究引入了无人地面车辆 (USV) 的新控制方法,以实现固定时间的形成控制. 这种方法确保车辆保持车形并保持在边界内,尽管存在干扰和和.

关键词:
固定时间控制控制.固定时间干扰观察员.形成-封闭控制控制的形成.无人驾驶的地面车辆

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科学领域:

  • 机器人和控制系统 机器人和控制系统
  • 海洋工程 海洋工程
  • 自主系统 自主系统

背景情况:

  • 无人驾驶地面车辆 (USV) 需要强大的控制来协调任务.
  • 在多个USV操作中,形成-封闭控制至关重要.
  • 挑战包括未知的干扰和输入和.

研究的目的:

  • 解决了对USVs预定义的固定时间形成-限制 (PFTFC) 控制问题.
  • 在未知的干扰和输入和下制定有效的控制策略.
  • 在一定的时间内实现趋同.

主要方法:

  • 一个双层控制框架:轨道估计和轨道跟踪.
  • 一个新的固定时间轨迹估计器,用于领导者和追随者.
  • 一个固定时间的干扰观察员和辅助系统来处理干扰和和.
  • 固定时间控制规律结合了利亚普诺夫稳定性和整体滑动模式控制.

主要成果:

  • 成功估计了所有USV所需的轨迹.
  • 有效地减轻未知的干扰和输入和效应.
  • 证明固定时间的趋同到所需的形成-封闭配置.
  • 通过数值模拟进行验证.

结论:

  • 拟议的方法有效地解决了PFTFC对USVs的问题.
  • 该方法保证了固定时间的稳定性和对不确定性的稳定性.
  • 双层框架为复杂的USV协调提供了一个系统的解决方案.