This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
针对控制目标耦合导致统一电能质量调节器电能质量补偿响应速度慢、精度差、鲁棒性差等问题,提出了一种控制目标解耦的连续集模型预测(continuous control set model predictive control,CCS-MPC)直接控制策略。该控制策略依据当前时刻...针对控制目标耦合导致统一电能质量调节器电能质量补偿响应速度慢、精度差、鲁棒性差等问题,提出了一种控制目标解耦的连续集模型预测(continuous control set model predictive control,CCS-MPC)直接控制策略。该控制策略依据当前时刻被控目标电压、电流参数,构建目标唯一的预测控制模型,在简化控制器结构的同时实现串、并联侧电感电流和电容电压解耦控制,显著提高统一电能质量调节器动态性能。基于偏导数获取模型预测控制价值函数的最优解,实现参数变化、外部扰动工况下负载电压、电网电流高精度补偿。仿真验证了所提控制策略的有效性。展开更多
This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the sing...This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the singularity of the traditional fast terminal sliding manifold, a novel fast terminal sliding manifold is given. And then, based on the adaptive control method, a continuous robust coordinated controller is designed to compensate external disturbances and to alleviate the chattering phenomenon. The theoretical analysis shows that the coordinated controller can guarantee the finite-time stability of the overall closed-loop system through local information exchange, and numerical simulations also demonstrate its effectiveness.展开更多
This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,...This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.展开更多
With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted dr...With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted driving,such as the adap-tive cruise control(ACC).Based on the CCS architecture,this paper proposes a cloud-based predictive ACC(PACC)strategy,which fully considers the road slope information and the preced-ing vehicle status.In the cloud,based on the dynamic program-ming(DP),the long-term economic speed planning is carried out by using the slope information.At the vehicle side,the real-time fusion planning of the economic speed and the preceding vehi-cle state is realized based on the model predictive control(MPC),taking into account the safety and economy of driving.In order to ensure the safety and stability of the vehicle-cloud cooperative control system,an event-triggered cruise mode switching method is proposed based on the state of each sub-system of the vehicle-cloud-network-map.Simulation results indicate that the PACC system can still ensure stable cruising under delays and some complex conditions.Moreover,under normal conditions,compared to the ACC system,the PACC sys-tem can further improve economy while ensuring safety and improve the overall energy efficiency of the vehicle,thus achiev-ing fuel savings of 3%to 8%.展开更多
为解决船舶导航系统跟踪精度受限、艏向控制稳定性差等问题,提出船舶导航系统智能控制与优化方法。以船舶动力学模型为控制设计基础,运用视线(Line of Sight,LOS)导航算法,通过轨迹偏差计算期望艏向角,简化航迹控制为艏向角控制;引入坐...为解决船舶导航系统跟踪精度受限、艏向控制稳定性差等问题,提出船舶导航系统智能控制与优化方法。以船舶动力学模型为控制设计基础,运用视线(Line of Sight,LOS)导航算法,通过轨迹偏差计算期望艏向角,简化航迹控制为艏向角控制;引入坐标补偿策略,依据航段方位角差修正转向偏差,优化期望艏向角,减少航迹切换误差;以优化后的期望艏向角为线性自抗扰控制器(Linear Active Disturbance Rejection Controller,LADRC)输入,经扩张状态观测器(Extended State Observer,ESO)估计干扰并补偿后,结合比例-微分(Proportional-Derivative,PD)控制律输出信号控制舵机转向,实现船舶导航智能优化控制。实验结果显示,该方法的应用可以降低期望艏向角波动,避免航迹切换时艏向突变;使舵角输出更平稳,增强航向控制稳定性;获取贴近规划路径的导航路径,缩小航迹偏差。展开更多
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
文摘针对控制目标耦合导致统一电能质量调节器电能质量补偿响应速度慢、精度差、鲁棒性差等问题,提出了一种控制目标解耦的连续集模型预测(continuous control set model predictive control,CCS-MPC)直接控制策略。该控制策略依据当前时刻被控目标电压、电流参数,构建目标唯一的预测控制模型,在简化控制器结构的同时实现串、并联侧电感电流和电容电压解耦控制,显著提高统一电能质量调节器动态性能。基于偏导数获取模型预测控制价值函数的最优解,实现参数变化、外部扰动工况下负载电压、电网电流高精度补偿。仿真验证了所提控制策略的有效性。
基金supported by the National Natural Science Foundation of China(61174037)the National High Technology Research and Development Program of China(863 Program)(2012AA120602CAST20120602)
文摘This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the singularity of the traditional fast terminal sliding manifold, a novel fast terminal sliding manifold is given. And then, based on the adaptive control method, a continuous robust coordinated controller is designed to compensate external disturbances and to alleviate the chattering phenomenon. The theoretical analysis shows that the coordinated controller can guarantee the finite-time stability of the overall closed-loop system through local information exchange, and numerical simulations also demonstrate its effectiveness.
基金“National Science and Technology Council”(NSTC 111-2221-E-027-088)。
文摘This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.
基金supported by the National Key R&D Program of China(2021YFB2501000)the Consultancy Research Project on the Strategic Study of the Integration and Innovative Development of Intelligent Connected Vehicles and New Energy Ecology in Zhejiang Province(2023ZL0007)+1 种基金the Hetao Shenzhen-HongKong Science and Technology Innovation Cooperation Zone(HZQB-KCZYZ-2021055)the Open Project of the Key Laboratory of Modern Measurement and Control Technology of the Ministry of Education(KF2022-1123202).
文摘With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted driving,such as the adap-tive cruise control(ACC).Based on the CCS architecture,this paper proposes a cloud-based predictive ACC(PACC)strategy,which fully considers the road slope information and the preced-ing vehicle status.In the cloud,based on the dynamic program-ming(DP),the long-term economic speed planning is carried out by using the slope information.At the vehicle side,the real-time fusion planning of the economic speed and the preceding vehi-cle state is realized based on the model predictive control(MPC),taking into account the safety and economy of driving.In order to ensure the safety and stability of the vehicle-cloud cooperative control system,an event-triggered cruise mode switching method is proposed based on the state of each sub-system of the vehicle-cloud-network-map.Simulation results indicate that the PACC system can still ensure stable cruising under delays and some complex conditions.Moreover,under normal conditions,compared to the ACC system,the PACC sys-tem can further improve economy while ensuring safety and improve the overall energy efficiency of the vehicle,thus achiev-ing fuel savings of 3%to 8%.
文摘为解决船舶导航系统跟踪精度受限、艏向控制稳定性差等问题,提出船舶导航系统智能控制与优化方法。以船舶动力学模型为控制设计基础,运用视线(Line of Sight,LOS)导航算法,通过轨迹偏差计算期望艏向角,简化航迹控制为艏向角控制;引入坐标补偿策略,依据航段方位角差修正转向偏差,优化期望艏向角,减少航迹切换误差;以优化后的期望艏向角为线性自抗扰控制器(Linear Active Disturbance Rejection Controller,LADRC)输入,经扩张状态观测器(Extended State Observer,ESO)估计干扰并补偿后,结合比例-微分(Proportional-Derivative,PD)控制律输出信号控制舵机转向,实现船舶导航智能优化控制。实验结果显示,该方法的应用可以降低期望艏向角波动,避免航迹切换时艏向突变;使舵角输出更平稳,增强航向控制稳定性;获取贴近规划路径的导航路径,缩小航迹偏差。
