领航跟随法和势函数组合的船舶编队控制

发布时间：2018-01-21 00:24

本文关键词： 船舶编队领航跟随势函数图形拓扑　出处：《控制理论与应用》2016年09期 　论文类型：期刊论文

【摘要】：多船舶作业在海上越来越盛行,最常见的运行方式就是船舶编队协控,本文考虑领航跟随法过于集中控制的不足,将船舶编队分为领航跟随控制阶段和跟随跟随控制两个阶段.在第1个阶段使用多输入滑模控制以及船舶响应模型进行控制律分配;第2阶段引入势函数方法,结合图形拓扑来约束跟随船舶间的间距,提高队形的稳固性,弥补单一领航跟随法的不足,并通过Lyapunov函数验证系统控制的稳定性.后期通过直线和曲线路径的仿真验证,得到编队船舶的各状态历时趋势,船舶间状态最终达到一致性,实现队形保持的目标,得出良好效果,验证了算法的有效性.
[Abstract]:Multi-ship operation is becoming more and more popular at sea, the most common way of operation is ship formation coordination, this paper considers the deficiency of the pilotage follow method too centralized control. The ship formation is divided into two stages: pilotage control stage and follow control stage. In the first stage, multi-input sliding mode control and ship response model are used to assign the control law. In the second stage, the potential function method is introduced, which combines the graphic topology to constrain the distance between the following ships, improve the stability of formation, and make up the deficiency of the single pilotage following method. The stability of the system is verified by Lyapunov function, and the simulation of straight line and curve path shows the diachronic trend of each state of ship formation, and the state of ship is consistent finally. To achieve the goal of formation maintenance, good results are obtained, and the effectiveness of the algorithm is verified.
【作者单位】：上海海事大学商船学院;航运仿真技术教育部工程研究中心;
【基金】：上海市科委2009年度创新行动计划项目(09170502000) 上海市教育委员会科研创新项目(11CXY49)资助~~
【分类号】：U675.79
【正文快照】： 1引言(Introduction)近年来,除了对单艘船舶的航向控制、轨迹跟踪之外,船群控制也得到越来越多的重视,如拖带系统稳定性控制、船舶补给控制以及船舶编队控制,对于多船之间的协作航行策略已成为当今研究的热点.船舶编队主要是指控制多艘船舶按照一定的队形,执行某项任务,已被广

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