主-从自治海上航行器有限时间同步运动控制.pdfVIP

绗?9 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2014 骞 1 鏈 Vol. 29 No. 1 Control and Decision Jan. 2014 鏂囩珷缂栧彿: 1001-0920 (2014) 01-0147-06 DOI: 10.13195/j.kzyjc.2012.1298 涓?浠庤嚜娌绘捣涓婅埅琛屽櫒鏈夐檺鏃堕棿鍚屾杩愬姩鎺у埗 1 1,2 鍚存辰浼 , 鍚存檽閿 (1. 娴峰啗宸ョ▼澶у鐢靛瓙宸ョ▼瀛﹂櫌锛屾姹?30033 锛?. 娴峰啗闄嗘垬瀛﹂櫌锛屽箍宸?10430) 鎽 瑕? 鐮旂┒涓?浠庤嚜娌绘捣涓婅埅琛屽櫒鏈夐檺鏃堕棿鍚屾杩愬姩闂, 鎻愬嚭涓€绉嶅彲瀹炵幇涓?浠庤嚜娌绘捣涓婅埅琛屽櫒鐨勪綅缃€佸Э鎬併€佺嚎 閫熷害銆佽閫熷害銆佺嚎鍔犻€熷害鍜岃鍔犻€熷害绛夎繍鍔ㄧ姸鎬佹湁闄愭椂闂村悓姝ョ殑杩炵画鐘舵€佸弽棣堟帶鍒舵柟娉? 棣栧厛, 閫氳繃寤虹珛涓汇€佷粠鑷不 娴蜂笂鑸鍣ㄧ殑鍔ㄥ姏瀛︽ā鍨? 缁欏嚭浜嗕富-浠庡悓姝ヨ繍鍔ㄦ帶鍒舵柟妗圎 鐒跺悗, 閲囩敤榻愭绯荤粺鏈夐檺鏃堕棿绋冲畾鎬х悊璁? 涓轰粠鑷不娴蜂笂 鑸鍣ㄨ璁′簡涓€绉嶈繛缁姸鎬佸弽棣堟帶鍒跺櫒, 浠ュ強鍦ㄨ鎺у埗鍣ㄤ笅瀹炵幇涓?浠庤嚜娌绘捣涓婅埅琛屽櫒鏈夐檺鏃堕棿鍚屾杩愬姩鐨勫厖鍒嗘€ 鍒ゆ嵁, 骞堕€氳繃瀹炰緥浠跨湡杩涜浜嗛獙璇? 鍏抽敭璇岤 鑷不娴蜂笂鑸鍣紱涓?浠庡悓姝ヨ繍鍔紱鏈夐檺鏃堕棿 涓浘鍒嗙被鍙耳 TP273 鏂囩尞鏍囧織鐮? A Finite-time synchronized motion of master-slave autonomous marine vehicles 1 1,2 WU Ze-wei , WU Xiao-feng (1. College of Electronic Engineering锛孨aval University of Engineering 锛學uhan 430033 锛孋hina 锛?. Naval Marine Academy, Guangzhou 510430锛孋hina 锛嶤orrespondent 锛歐U Ze-wei 锛孍-mail 锛歸uzw1982@) Abstract 锛氾細锛歍he synchronized motion of master-slave autonomous marine vehicles is investigated, and a continuous states feedback controller is proposed for achieving 铿乶ite-time synchronization of the motional states of both master vehicle and slave vehicle, including position, orientation, linear velocity, angular velocity, linear acceleration and angular acceleration. Firstly, dynamical models of both master vehicle and slave vehicle are mathematically given, and then a master-slave synchronization scheme is established. By means of the 铿乶ite-time stability