基于制导-控制结构的船舶非线性协调编队控制方法研究

The coordinated formation for multiple vessels plays a vital role in the development of marine resources and marine industry, which can enhance the efficiency and the performance of the tasks. Besides, it has the advantages of better fault tolerance and strong adaptability. Therefore, it is widely used in military and civil applications. However, the inherent nonlinearity of the vessels and the strong disturbances of the marine environment, will undoubtedly bring great challenges to the design of the coordinated formation controller. Most existing linear formation control methods cannot be directly applied to the nonlinear vessel system. To solve the problems, this project proposes a nonlinear coordinated formation control method based on the guidance-control structure. Furthermore, a coordinated formation control algorithm with disturbance rejection is developed for multiple vessels under the unknown constant or time-varying disturbances. In addition, considering the safety for preventing collisions and the constrained communication, a nonlinear coordinated formation control method is further improved under the constrained or limited communication. Finally, the validity of the above proposed formation control methods is verified through experiment simulations. The purpose of this project is to develop practical coordinated formation control methods for multiple vessels and to provide theoretical support for the practical applications in offshore engineering.

船舶的协调编队对海洋资源的开发和海洋事业的发展起着至关重要的作用。协调编队可以提高执行效率，改善作业性能，具有容错性、适应性强等优点，在民用和军事领域的应用越来越广泛。但是船舶固有的强非线性、海洋环境引起的强扰动性无疑给船舶的协调编队控制带来很大的挑战。现有的线性协调编队控制方法无法很好地解决非线性船舶的协调编队控制问题。为了解决这些问题，本项目提出基于制导-控制结构的多艘船舶非线性协调编队控制方案；并在此基础上，研究船舶受到未知定常或时变海洋环境扰动下的鲁棒非线性协调编队控制方法；另外，考虑到实际协调作业时的安全需求和通信受限等问题，研究能够实现安全避碰以及通信约束下的非线性协调编队控制方法；最后通过实验仿真验证上述所提出的船舶协调编队控制方法的有效性。本项目的研究目标是提出比较实用的多艘船舶的协调编队控制方法，为将来海上实际工程的应用提供前期的理论探索和技术储备。

船舶的协调编队对海洋资源的开发和海洋事业的发展起着至关重要的作用。协调编队可以提高执行效率，改善作业性能，具有容错性、适应性强等优点，在民用和军事领域的应用越来越广泛。通过本项目的研究工作，提出了基于制导-控制结构的多艘船舶非线性协调编队控制方案；并在此基础上，研究船舶受到未知定常或时变海洋环境扰动下的鲁棒非线性协调编队控制方法；考虑到实际协调作业时的安全需求和通信受限等问题，研究能够实现通信约束下的非线性协调编队控制方法；另外，针对船舶实现编队需要大量的传感器和执行器相关数据，针对该类数据研究相关的故障检测和诊断方法，确保编队作业的正常进行。最后通过实验仿真验证上述所提出的船舶协调编队控制方法的有效性。同时本项目的研究取得了一系列良好的成果，成功建立了一套比较完整的多艘船舶的协调编队控制方法。