本文研究了具有多个动态领航船的欠驱动无人艇的包含控制问题。假设所有跟随船不知道领航船的控制输入，并且只有部分跟随船能够获得部分领航船的位置和速度。在此条件下，本文首先提出了一种基于虚拟领航船的包含控制方法。使用该方法可以将多无人艇的包含控制问题简化为虚拟领航船的包含控制问题和跟随船的目标跟踪问题。然后为虚拟领航船设计了相应的包含控制算法，并基于滑模控制理论为跟随船设计了目标跟踪算法。仿真结果验证了所提出的控制方法的有效性。
This paper studies the containment control problem for underactuated autonomous surface vehicle with a number of dynamic pilot vessels. Assuming that all the following ships do not know the control inputs of the pilot vessel, and only a part of the following vessel can get the position and speed of the partial navigation vessel. Under this condition, this paper firstly proposes a new method based on virtual pilot ship. Using this method, the control problem of multi autonomous surface vehicle can be simplified as the control problem of virtual pilot ship and the target tracking problem of the following ship. Then the corresponding containment control algorithm is designed for the virtual pilot ship, and the target tracking algorithm is designed based on the sliding mode control theory.Simulation results verify the effectiveness of the proposed control method.
2018,(): 96-101 收稿日期：2016-10-17
DOI：10.3404/j.issn.1672-7649.2018.02.018
分类号：TP24;TP273
作者简介：刘伟(1990-),男,硕士研究生,研究方向为船舶自动化
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