欠驱动避障无人水面飞行器有限时间指令滤波自主对接控制。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions Pub Date : 2025-06-05 DOI:10.1016/j.isatra.2025.05.029

Bingwen Liu , Jiapeng Liu , Jinpeng Yu

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引用次数: 0

摘要

针对欠驱动无人水面飞行器（USV）的自主对接控制，提出了一种新的控制策略。首先，将有限时间命令滤波反演与改进的人工势场（APF）相结合，用控制器产生的力取代传统的APF引力，实现了路径规划与运动控制的统一。其次，采用带误差补偿的有限时间命令滤波器，消除“复杂度爆炸”，减少滤波误差。最后，在控制器中嵌入模糊逻辑系统来抑制未知的非线性干扰。仿真结果为该控制策略的成功实施提供了具体证据，强调了其可行性和性能优势。

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Finite-time command-filtered autonomous docking control of underactuated unmanned surface vehicles with obstacle avoidance

This paper presents a novel control strategy for the autonomous docking control of underactuated unmanned surface vehicle (USV). Firstly, a novel integration of finite-time command-filtered backstepping with an improved artificial potential field (APF), where the controller-generated force replaces the traditional APF attractive force, unifying path planning and motion control. Secondly, a finite-time command filter with error compensation to eliminate “explosion of complexity" and reduce filtering errors. Finally, the fuzzy logic system is embedded in the controller to suppress unknown nonlinear disturbances. The simulation outcomes provide concrete evidence of the control strategy’s successful implementation, emphasizing its feasibility and performance advantages.

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来源期刊

ISA transactions 工程技术-工程：综合

CiteScore

11.70

自引率

12.30%

发文量

824

审稿时长

4.4 months

期刊介绍： ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.