Practical Prescribed-Time Cooperative Path Following of Underactuated Multi-ASVs Without Velocity Measurements via Intermittent Control
研究了欠驱动自主水面艇在无速度传感器、存在未建模动态和执行器饱和时的预设时间协同路径跟踪问题，设计了基于间歇通信的制导律和控制器，并通过仿真验证了有效性。
In this article, the problem of practical prescribed-time (PT) cooperative path following (CPF) is investigated for underactuated autonomous surface vehicles (ASVs), which are not equipped with velocity sensors and subject to unmodeled dynamics and actuator saturation. First, a practical PT velocity observer (PTVO) is designed to estimate unmeasurable velocity information, which is then employed in the design of the guidance law and controller. At the kinematic level, a cooperative guidance law based on aperiodic intermittent communication is developed for synchronized path following, effectively saving communication resources. At the dynamic level, an aperiodic intermittent controller incorporating neural networks (NNs) is designed to approximate unmodeled dynamics and effectively avoid continuous operation of actuators with input saturation. Meanwhile, the intermittent adaptive law is constructed to estimate the optimal weights of the NNs, thereby reducing their complexity. The closed-loop system is verified to converge to a residual set within a PT interval. Finally, we conduct numerical simulations to demonstrate the effectiveness of the proposed algorithms.