为解决同构平台下无人艇编队系统存在的视野受限等问题，以一架四旋翼无人机作为无人艇编队的领导者，本文提出一种具有预设性能的无人机–无人艇异构编队固定时间鲁棒控制策略。首先，设计一种固定时间神经网络观测器来补偿异构系统中由模型不确定性和外部环境干扰所构成的集总扰动，以提高异构编队系统的抗干扰能力。然后，基于有限时间预设性能函数设计固定时间快速终端滑模控制策略，以保证系统在固定时间内快速完成预置的编队队形。最后，根据Lyapunov稳定性理论严格证明了系统的固定时间收敛特性，并通过数值仿真验证了算法的有效性。
To address issues such as limited field of view in homogeneous unmanned surface vehicle (USV) formation systems, this study proposes a fixed-time robust control strategy with prescribed performance for a heterogeneous UAV-USV formation system, employing a quadrotor unmanned aerial vehicle (UAV) as the formation leader. First, a fixed-time neural network observer is designed to compensate for the lumped disturbances comprising model uncertainties and external environmental disturbances in the heterogeneous system, thereby enhancing the anti-interference capability of the formation system. Then, based on the finite time prescribed performance function, a fixed-time fast terminal sliding mode control strategy was designed to ensure that the system achieves the predefined formation configuration within a fixed time. Finally, the fixed-time convergence characteristics of the system are rigorously proved according to the Lyapunov stability theory, and the effectiveness of the algorithm is verified by numerical simulation.
2026,48(4): 162-171 收稿日期：2025-4-23
DOI：10.3404/j.issn.1672-7649.2026.04.025
分类号：U674.91；U675.91
基金项目：国家自然科学基金资助项目（51879119）
作者简介：刘文志(1999-),男,硕士研究生,研究方向为异构多智能体协同控制、预设性能控制
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