针对多无人艇编队系统出现通信拓扑发生改变的问题，提出一种基于动态事件触发的无人艇编队控制方法。首先，在考虑编队误差和控制输入的基础上，提出一种基于成本的切换律以确定切换时刻；其次，设计一种具有可调阈值的动态事件触发机制以减少通信负担；然后，为解决外界干扰以及未知动力学，构造扰动观测器来估计扰动从而设计分布式控制器，能够减轻外界干扰的影响，实现无人艇编队控制。通过李雅普诺夫函数具体分析2种情况下的稳定性，可得该系统能够实现一致性。最后，通过仿真证明了所提出方案的有效性。
A dynamic event-triggered formation control method of unmanned boats is proposed to address the issue of communication topology in multiple unmanned boat formation systems. Firstly, a cost-based switching law is proposed to determine the switching instant based on considering formation errors and control inputs. Secondly, a dynamic event-triggered mechanism with adjustable thresholds is designed to reduce the communication burden. Then, aiming at solving the external interference and unknown dynamics, a disturbance observer is constructed, and distributed controllers are designed to alleviate the adverse effects, so that achieving formation control of multiple unmanned boats. By analyzing the stability of the Lyapunov function in two different situations, it can be concluded that the system can achieve consistency. Finally, simulations have demonstrated the effectiveness of the proposed strategy.
2024,46(21): 97-102 收稿日期：2024-2-19
DOI：10.3404/j.issn.1672-7649.2024.21.017
分类号：U674.91
基金项目：国家自然科学基金资助项目（61773395）；中国博士后科学基金资助项目（2023M741882）
作者简介：徐宁骏(1987-),男,博士,高级工程师,研究方向为舰船指控系统及武器系统
参考文献：
[1] LIU Z X, ZHANG Y M, YU X, et al. Unmanned surface vehicles: An overview of developments and challenges[J]. Annual Reviews in Control, 2016, 41: 71-93.
[2] 谢光强, 阳开, 李杨, 等. 基于切换拓扑的多智能体协作控制研究综述[J]. 计算机应用研究, 2019, 36(4): 967-971.
XIE Guangqiang, YANG Kai, LI Yang, et al. Review of research on multi-agent cooperative control based on switching topology[J]. Application Research of Computers, 2019, 36(4): 967-971.
[3] OLFATI-SABER R, MURRAY R M. Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Transactions on Automatic Control, 2004, 49(9): 1520-1533.
[4] Yu Y J, Guo J. Distributed adaptive fuzzy formation control of uncertain multiple unmanned aerial vehicles with actuator faults and switching topologies[J]. IEEE Transactions on Fuzzy Systems, 2022, 31(3): 919-929.
[5] 黄兵, 肖云飞, 冯元, 等. 无人艇全分布式动态事件触发编队控制[J/OL]. 控制理论与应用: 2023: 1-9.
HUANG Bing, XIAO Yun-fei, FENG Yuan,etal. Fully distributed dynamic event-triggered formation control for multiple unmanned surface vehicles[J/OL]. Control Theory and Applications, 2023: 1-9.
[6] 张磊, 郑宇鑫, 黄兵, 等. 动态事件触发机制下的无人艇无模型控制[J/OL]. 哈尔滨工程大学学报, 2024(1): 1-8.
ZHANG Lei, ZHENG Yuxin, HUANG Bin, et al. Modeless control for unmanned surface vehicle under the dynamic event-triggered mechanism[J/OL]. Journal of Harbin Engineering University, 2024(1): 1-8.
[7] CHEN C, ZOU W, XIANG Z. Event-triggered consensus of multiple uncertain euler–lagrange systems with Limited communication range[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, 53(9): 5945–5954.
[8] ZHANG Y, CHADLI M, XIANG Z R. Prescribed-time formation control for a class of multi-agent systems via fuzzy reinforcement learning[J]. IEEE Transactions on Fuzzy Systems, 2023, 104(4):3701–3712.
[9] 姜朝宇, 陈源宝. 带有扰动观测器的无人水面艇有限时间轨迹跟踪控制[J]. 舰船电子工程, 2021, 41(10): 61-65.
JIANG Chaoyu, CHEN Yuanbao. Finite-time trajectory tracking control of unmanned surface vehicle with disturbance observer[J]. Ship Electronic Engineering, 2021, 41(10): 61-65.
[10] COTTLE R W. Manifestations of the Schur complement[J]. Linear algebra and its Applications, 1974, 8(3): 189-211.
