用于编队路径跟踪的分布式 NSB 算法

IF 4.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2024-08-26 DOI:10.1109/TCST.2024.3443703

Josef Matouš;Kristin Y. Pettersen;Damiano Varagnolo;Claudio Paliotta

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引用次数: 0

摘要

本文提出了一种基于分布式零空间行为（NSB）的三维车辆编队路径跟踪算法。该算法应用于欠驱动自主水下航行器（auv）舰队。该算法将基于零空间的控制与一致性方法相结合。首先，我们提出了一个连续时间版本的算法，并使用李雅普诺夫分析证明了它的稳定性。然后，我们提出了一个离散时间事件触发的版本，与类似的编队路径跟踪方法相比，它可以在更少的车辆间传输的情况下实现相同的稳态误差性能。数值仿真验证了连续时间算法和离散时间算法的有效性。并对离散时间版本进行了实验验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Distributed NSB Algorithm for Formation Path Following

This article presents a distributed null-space-based behavioral (NSB) algorithm for the formation path-following problem of vehicles moving in three dimensions. The algorithm is applied to fleets of underactuated autonomous underwater vehicles (AUVs). The algorithm combines null-space-based control with consensus methods. First, we present a continuous-time version of the algorithm and prove its stability using Lyapunov analysis. Then, we present a discrete-time event-triggered version that, compared to similar formation path-following methods, can achieve the same steady state-error performance with fewer inter-vehicle transmissions. The effectiveness of both the continuous-time and the discrete-time algorithm is verified in numerical simulations. Furthermore, the discrete-time version is tested in experiments.

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来源期刊

IEEE Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.