论文标题
控制不足的USV之后的形成路径 - 有证明
Formation Path Following Control of Underactuated USVs -- With Proofs
论文作者
论文摘要
本文提出了一种形成控制方法，用于在存在洋流的情况下沿着弯曲路径遵循弯曲路径。通过团结视线（LOS）指导定律和基于空的行为控制（NSB）框架，我们在保持所需的血管形成的同时，实现了Barycenter的弯曲路径。使用级联的系统理论研究了闭环动力学，并且表明闭环系统是USCES和UGA，而不足的SWAY动力学仍保持界限。提出了模拟和实验结果以验证理论结果。
This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral control (NSB) framework, we achieve curved path following of the barycenter, while maintaining the desired vessel formation. The closed-loop dynamics are investigated using cascaded systems theory, and it is shown that the closed-loop system is USGES and UGAS, while the underactuated sway dynamics remains bounded. Both simulation and experimental results are presented to verify the theoretical results.
