Chinese Journal of Ship Research, Volume. 16, Issue 1, 51(2021)
Coordinated control of multiple unmanned surface vehicles: recent advances and future trends
Figures & Tables(8)
![[in Chinese]](/Images/icon/loading.gif){kind=icon}
Table 1. Coordinated control architectures, their advantages and disadvantages of TRCC, PACC and TACC
View tableView in ArticleTable 1. Coordinated control architectures, their advantages and disadvantages of TRCC, PACC and TACC
控制结构 轨迹导引 路径导引 目标导引 优点 缺点 集中式 控制 [ 34 ,51 ][ 11 ,22 ,35 ,47 ,77 ,85 -92 ]− 统一决策，全局最优 全局通信，带宽要求高，扩展性差，容错性低 分散式 控制 − − [ 14 ,27 ,41 ,52 ,53 ,56 ,75 ,79 ,82 ,84 ,93 -98 ]扩展性强，局部信息模块化 局部最优，无信息交互 分布式 控制 [ 21 ,38 ,42 ,44 ,71 ,74 ,99 -102 ][ 17 ,28 ,45 ,46 ,48 ,80 ,103 ][ 104 -105 ]扩展性强，容错性高，信息交互，带宽要求低 拓扑复杂，通信依赖
Table 2. Design methods of coordinated controller for TRCC, PACC, TACC
View tableView in ArticleTable 2. Design methods of coordinated controller for TRCC, PACC, TACC
设计方法 轨迹导引 路径导引 目标导引 反步法 [ 34 ,51 ][ 10 ,22 ,87 ,106 ][ 75 ,79 ,98 ,104 ]动态面 [ 42 ,44 ,71 ,74 ,100 ][ 11 ,64 ,80 ,91 ][ 41 ,56 ]跟踪微分器 − [ 45 -48 ,90 ,103 ][ 107 ]指令调节器 − [ 17 ,28 ]−
Table 3. Control methods of TRCC, PACC, TACC
View tableView in ArticleTable 3. Control methods of TRCC, PACC, TACC
控制方法 轨迹导引 路径导引 目标导引 滑模控制 [ 21 ]− [ 20 ]参数自适应 − [ 22 ][ 41 ]神经网络 [ 42 ,44 ,71 ,100 ][ 28 ,45 ,64 ,80 ,90 -91 ][ 41 ,56 ,75 ,94 ,98 ]模糊逻辑 − [ 17 ][ 107 ]抗扰控制 [ 34 ,51 ][ 10 ,11 ,46 ,47 ,103 ][ 9 ,56 ,105 ]约束控制 [ 38 ][ 17 ][ 56 ,79 ,94 ,107 ]输出反馈 [ 38 ,44 ,71 ][ 28 ,46 ,103 ]− 避障避碰 [ 34 ,51 ,100 ][ 46 ,80 ,103 ][ 75 ,98 ]连通保持 [ 100 ][ 46 ,80 ,103 ][ 75 ]
Tools
Get Citation
Copy Citation Text
Zhouhua PENG, Wentao WU, Dan WANG, Lu LIU. Coordinated control of multiple unmanned surface vehicles: recent advances and future trends[J]. Chinese Journal of Ship Research, 2021, 16(1): 51
Paper Information
Category:
Received: Apr. 10, 2020
Accepted: --
Published Online: Mar. 27, 2025
The Author Email:
© Copyright 2018-2021 | Chinese Laser Press.
All Rights Reserved 沪ICP备15018463号-20