该文针对欠驱动无人艇的编队跟踪控制问题,考虑模型参数不确定和外界风浪流干扰的影响,设计了基于LOS的算法;首先,为了使三艘无人艇保持协同,设计了协同一致性控制算法,并且所有的跟随者之间的通信网络是无向的,保证每艘无人艇之间都能互相通信;其次,基于LOS算法,设计了偏航控制器和艏摇控制器,使得无人艇可以在洋流干扰下实现路径跟踪;针对控制器中的未知参数,设计了基于自适应算法的观测器,对未知参数进行估计;仿真结果验证了所提出的控制方法的有效性.%In order to solve the problem of formation tracking control of underactuated unmanned surface vehicles,this paper designs a navigation rate based on integral LOS,considering the uncertainty of model parameters and the influence of external wind and wave flow.Firstly,in order to keep three unmanned surface vehicles in coordination,this paper designs a cooperative coherence control algorithm.And the communication network between all the followers is invisible,ensuring that every unmanned boat can communicate with each other.Secondly,based on the LOS algorithm,the yaw controller and the bow controller are designed,so that the unmanned surface vehicles can realize the path tracking under the ocean current interference.Finally,for the unknown parameters in the controller,an observer based on adaptive algorithm is designed to estimate the unknown parameters.The validity of the obtained results is verified by simulation.
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