恶劣海况下，多无人水面船易出现摇晃、颠簸、偏航等现象，导致航行受多种不确定性因素干扰，集群避障效果下降，为此，提出恶劣海况下多无人水面船集群自动控制方法。考虑恶劣海况确定多无人水面船集群运动律，通过有限时间观测器实时观测与补偿无人水面船不确定信息，使其精准感知周围环境和自身状态，获取干扰因素，以支撑避碰决策。根据运动律获取无人水面船的期望纵荡速度与艏摇角速度，联合观测器结果计算纵荡与艏向自由度误差，从而设计纵荡与艏向控制律，实现多无人水面船集群的自动控制。实验结果显示，应用设计方法控制的多无人水面船集群避障路径更安全、合理，且无人水面船位置误差最小值达到了0.5 m，控制误差低，实际应用效果好。
Under adverse sea conditions, multiple unmanned surface vessels are prone to shaking, bumping, yawing, and other phenomena, which can cause navigation to be affected by various uncertain factors and reduce the effectiveness of cluster obstacle avoidance. Therefore, an automatic control method for multiple unmanned surface vessel clusters under adverse sea conditions is proposed. Considering adverse sea conditions, determine the motion law of multiple unmanned surface vessel clusters, and use a finite time observer to observe and compensate for uncertain information of unmanned surface vessels in real time, enabling them to accurately perceive the surrounding environment and their own state, obtain interference factors, and support collision avoidance decisions. Based on the motion law, the expected heave velocity and yaw rate of unmanned surface vessels are obtained. The joint observer results are used to calculate the errors in heave and yaw degrees of freedom, and to design heave and yaw control laws to achieve automatic control of multiple unmanned surface vessel clusters. The experimental results show that the obstacle avoidance path of the multi unmanned surface vessel cluster controlled by the application design method is safer and more reasonable, and the minimum position error of the unmanned surface vessel reaches 0.5 m, with low control error and good practical application effect.
2025,47(18): 89-93 收稿日期：2025-4-7
DOI：10.3404/j.issn.1672-7649.2025.18.015
分类号：U664.82；TP273.4
基金项目：江西省教育厅科学技术研究项目（GJJ2203015）；辽宁省教育科学“十四五”规划 2024年度立项一般课题（JG24EB021）；中国成人教育协会“数字赋能教育”2024年度立项一般课题（2024-SJYB-018S）
作者简介：吴卫珍（1982 – ），女，硕士，讲师，研究方向为自动化装置与系统方向
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