In this paper, the collaborative path tracking problem of under-actuated multiple unmanned ships is studied, aiming at improving the accuracy and stability of the path tracking of unmanned ships. Firstly, the mathematical model of the under-actuated multi-unmanned ship is established, and its kinematic characteristics and control difficulty are analyzed. Then, an enhanced cooperative control strategy is adopted to enable multiple unmanned ships to cooperate to complete the path tracking task. The effectiveness and superiority of this control strategy are verified by simulation experiments. The results show that compared with the traditional control methods, the proposed collaborative control strategy can significantly improve the path tracking accuracy and stability of unmanned ships, and enhance the collaborative performance of multiple unmanned ships.
Design of Coordinated Path Tracking Controller for Underactuated Multiple Unmanned Ships
10.05.2024
1853652 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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