基于卡尔曼预测滑模方法的欠驱动舰船群体自主编队一致性控制研究

项目名称： 基于卡尔曼预测滑模方法的欠驱动舰船群体自主编队一致性控制研究

项目编号： No.61203082

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 陈余庆

作者单位： 大连海事大学

项目金额： 24万元

中文摘要： 研究欠驱动舰船群体自主控制系统的目标跟踪及位姿调整问题，探索具有动态干扰特征环境约束的舰船协同运动状态控制器设计方法与理论。针对自主舰船编队一致性控制诸多难题，提出一种新的卡尔曼预测滑模（KPSM）控制方法。即基于多智能体信息图论知识，首先建立舰船群体组成的有向拓扑结构，并对系统二阶非线性控制器进行设计，分析系统状态满足马尔可夫假设条件下进行卡尔曼预测的有限时间滑模控制方法，进而研究拓扑变换与系统控制稳定性要求的约束关系。从而解决舰船群体编队控制状态一致性跟踪与动态调整方法等关键问题，攻克目前舰船群体控制系统广泛存在的自主性、智能性不足和在风浪复杂环境下多舰船协同控制模型动态调整等诸多科学难点。逐步建立水上舰船的协同探索运动、自主避障等控制方法，并分析研究该自主控制系统的可靠性和稳定性，最终为无人欠驱动舰船自动驾驶、联合自主探索、目标识别及护航任务奠定理论研究基础。

中文关键词： 欠驱动舰船；轨迹跟踪；端滑模；编队；一致性

英文摘要： Autonomous control problems of multiple underactuated ships are researched,such as target tracking and pose regulating.In other words, it studies on designing approaches and related theories for the cooprative states controller of ships in an interference environment.A novel Kalman Prodictive Sliding Mode(KPSM) control method is presented, so as to solve consensus control difficult problem of autonomous ships formation.A directed topological graph of ships is firstly constructed based on information graph theory of multi-agent, and a second-order nonlinear controller is derived.Secondly, kalman prodictive time-limit sliding mode approach for the formation system is analyzed under the markov assumption conditions.Nextly, stability constrains of the control system are analyzed when formation topologies are changed. Therefore, This project mainly deals with some key problems of multiple ships formation control, including consensus tracking and dynamic regulation methods of the formation states. Simutaniously,for the multiple ships control system, inteligence and autonomy are ubiquitous to be improved, and many difficulties and questions for dynamic regulating process of multiple ships cooperative control model are to be solved through the dynamic wind wave regime. Finally, the control methods of cooperative explor

英文关键词： underactuated ships；trajectory tracking；Terminal sliding mode；formation；consensus