强大的复合材料事件触发控制异质船只:应用到一个自动检测操作
Guoqing Zhang1, Qiong Cao2, Jiqiang Li2
1State Key Laboratory of Maritime Technology and Safety, Dalian Maritime University, 1 Linghai Road, Dalian 116026, People's Republic of China; Navigation College, Dalian Maritime University, 1 Linghai Road, Dalian 116026, People's Republic of China.
ISA transactions
|December 5, 2025
概括
一个新的事件触发控制算法确保真实和虚拟的船舶同步,同时最大限度地减少通信负载. 这种先进的系统增强了对海上安全任务的异质船形控制.
科学领域:
- 海洋工程 海洋工程
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
背景情况:
- 保持形成的一致性和有效的沟通对于自主海洋系统至关重要.
- 不同类型的船队在协调方面面临挑战,特别是在动态任务中,如入侵者检测.
- 现有的控制算法经常与通信资源限制和系统不确定性作斗争.
研究的目的:
- 开发一个由事件触发的控制算法,用于同步控制真实和虚拟船只.
- 为了提高船队的通信效率.
- 解决异质船舶形成控制中的系统不确定性和量子化效应.
主要方法:
- 一个复合事件触发的控制算法,使用歇斯底里定量仪.
- 一个改进的L2虚拟船 (L2-VS) 指导方法,集成领先跟随和人工潜力场 (APF) 原则.
- 对系统模型不确定性的神经网络近似和对量子化和参数不确定性的适应性补偿.
- 利亚普诺夫稳定性分析以保证系统的局限性.
主要成果:
- 有效控制真实和虚拟船舶之间的位置和速度一致性.
- 显著减少了通信资源的占用.
- 成功指导异质船队在时间变化的船队中进行入侵检测.
- 证明了对系统模型不确定性和量子化效应的稳定性.
结论:
- 拟议的事件触发控制算法有效地同步真实和虚拟船只,同时优化通信资源.
- 与神经网络和适应性补偿相结合的L2-VS引导方法为复杂的海上形成控制任务提供了强大的解决方案.
- 该算法已被用于海上安全应用程序的验证,证明了其在检测和改造场景中的实际有效性.
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