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全球固定时间规定的性能控制与固定时间分布式状态观察员用于使用多个无人地面车辆的非合作目标跟踪

Haiyan Tong¹, Yingying Hu¹

¹School of Automation, Harbin University of Science and Technology, 150080, Harbin, China.

ISA transactions

|November 26, 2025

概括

本研究提出了一种新方法,用于多个无人水面车辆 (USV) 在复杂的海洋环境中使用固定时间控制跟踪目标. 该方法确保快速准确的跟踪,即使在初始条件不确定性和外部干扰的情况下.

科学领域:

机器人技术机器人技术机器人技术
控制系统工程控制系统工程
海洋工程海洋工程

背景情况:

在复杂的海洋环境中,通过多个无人水面车辆 (USV) 合作追踪非合作目标具有挑战性.
现有的方法往往面临由于初始条件依赖性和外部干扰的局限性.

研究的目的:

为针对非合作实体的多个USV开发一个强大的固定时间合作跟踪控制策略.
解决USV跟踪系统中初始状态条件和外部干扰的局限性.

主要方法:

一个新的固定时间分布状态观察器 (FDSO) 设计用于目标状态估计,独立于初始条件.
提出了一个全球固定时间规定的绩效控制策略,其中包含了一个指数式固定时间转移函数 (EFSF).
引入了一个固定时间动态补偿 (FDC) 机制来抵消外部干扰.

主要成果:

拟议的FDSO准确地估计了目标国家,而不依赖初始条件.
控制策略确保了规定的性能,并消除了初始错误条件的限制.
FDC机制有效地减轻了外部干扰对系统性能的影响.
利亚普诺夫稳定性分析证实了闭环系统的实际固定时间稳定性.
模拟显示了快速融合,高跟踪精度和稳定性.

结论:

开发的固定时间控制策略为USVs的合作目标跟踪提供了强大而高效的解决方案.
该方法保证在固定的时间内快速收跟踪错误,优于传统方法.
这项研究有助于在复杂的操作场景中提高自主海洋系统的能力.

关键词:

固定时间分布状态观察者.固定时间动态补偿全球固定时间规定的性能控制.不合作的目标跟踪追踪.低调的多个USVs.

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