对于协调的异质海洋车辆来说,强有力的安全维护聚会控制:以观察员为基础的结构维护哈密尔顿港的方法
IEEE transactions on cybernetics
|January 21, 2026
概括
这项研究提出了一种新的基于观察者的控制,用于协调无人驾驶水下车辆 (UUV) 和自动驾驶水面车辆 (ASV). 该方法确保了安全,稳定的3D动态聚会,尽管存在不确定性和干扰.
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:
- 对UUV和ASV等异质船舶的协调控制是复杂的.
- 水力动力学不确定性和外部干扰对安全聚会构成重大挑战.
- 现有的控制方法可能会在稳定性和安全性保护方面扎.
研究的目的:
- 为UUV-ASV系统开发一个以观察员为基础的,安全维护的聚会控制方法.
- 在港-哈密尔顿 (PH) 框架内稳定聚会错误.
- 为了减少控制器设计的复杂性,同时确保无碰撞的轨迹.
主要方法:
- 使用互连和缓冲分配基于被动性的控制 (IDA-PBC) 框架.
- 实施规定的性能控制 (PPC) 以保持安全的上升运动.
- 设计一个结构维护不确定性观察器来处理模型不确定性和干扰.
主要成果:
- 通过严格的分析证明了UUV-ASV交会错误的有效稳定.
- 控制器设计复杂度降低,实现了光滑,无碰撞的聚会轨迹.
- 模拟和实验验证了拟议方法的有效性和优势.
结论:
- 拟议的以观察员为基础的安全维护聚会控制对协调的UUV-ASV系统有效.
- 在不确定性下,IDA-PBC和PPC的整合提供了一个强大的解决方案.
- 这种方法提高了安全性,并简化了复杂的船舶车辆协调的控制设计.
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