Adjacent cross-coupling synchronous formation control with collision avoidance for multiple ships under unknown disturbances
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摘要: 针对在未知海洋干扰下编队航行时的同步性能差和障碍物碰撞风险问题，提出了一种多船舶分布式相邻交叉耦合同步编队避障鲁棒控制方法和具有更高同步控制精度的相邻交叉耦合同步控制策略, 并利用神经网络估计未知海洋干扰；为防止船舶与障碍物、船舶与船舶之间的碰撞风险，将人工势场法应用到多船舶编队控制系统当中；通过模拟5艘船舶在具有多个障碍物和未知海洋干扰情况下的并排编队航行场景，测试了提出方法的有效性。研究结果表明：在考虑障碍物与外界海洋干扰的环境下，5艘船舶在安全躲避障碍物后，均能够以期望的编队形式完成航行；9 s左右这些船舶就能够达到一致的速度，面对障碍物干扰时，速度会出现轻微波动，但30 s后仍可趋于一致，并保持相同的速度继续航行；船舶的位置跟踪误差、速度跟踪误差、相邻船舶的位置同步误差与神经网络逼近误差会出现小幅度的振荡，但30 s后这些误差最终都收敛于0，保证了5艘船舶位置与速度信息的同步。可见，该方法不仅可解决未知海洋干扰下船舶编队控制同步性能较差的问题，同时可有效降低船舶与障碍物、船舶与船舶之间的碰撞风险，一定程度上提高了船舶编队航行时的自主性与安全性。Abstract: In view of the poor synchronization performance and obstacle collision risk during formation navigation under unknown marine disturbances, a distributed adjacent cross-coupling synchronous formation robust control method with collision avoidance was proposed for multiple ships, and an adjacent cross-coupling synchronous control strategy was proposed to achieve higher synchronous control accuracy, and the unknown marine disturbances were estimated by the neural network. In order to effectively prevent collision risks between ships and obstacles, as well as between ships, the artificial potential field method was applied to the multi-ship formation control system. The effectiveness of the proposed method was tested by simulating the parallel formation navigation scenarios of five ships facing multiple obstacles and unknown marine disturbances. Research results show that all ships can navigate in the expected formation after safely avoiding the obstacles in considering obstacles and external marine disturbances. After about 9 s, the ships can reach consistent velocities. Although the velocities of the ships fluctuate slightly when there are obstacles, the ships are able to continue navigating with consistent velocity after 30 s. Besides, there also exist small oscillations in the position and velocity tracking errors, position synchronization errors of adjacent ships, and neural network approximation errors. However, these errors can eventually converge to 0 after 30 s, ensuring the synchronization of the position and velocity information of the five ships. Therefore, the proposed method can not only solve the problem of poor synchronization performance when ships are sailing in formation under unknown marine disturbances, but also effectively reduce the collision risk between ships and obstacles, as well as between ships. To some extent, the autonomy and safety of the ships during formation navigation have been improved.
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图 7 同步编队鲁棒控制的位置跟踪误差曲线
Figure 7. Position tracking error curves of synchronous formation robust control
图 8 同步编队鲁棒控制的速度跟踪误差曲线
Figure 8. Velocity tracking error curves of synchronous formation robust control
图 9 同步编队鲁棒控制作用下的相邻船舶同步误差曲线
Figure 9. Synchronous error curves of adjacent ships of synchronous formation robust control
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