发表机构
Nanyang Technological University; The University of Queensland; VinUniversity（南洋理工大学; 昆士兰大学; 越南-新加坡联合大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对受扰动的异构平面欠驱动智能体，提出基于角度的编队跟踪控制方法，通过两种控制律实现渐近跟踪，并经USV仿真验证有效性。
AI 中文摘要
本文研究了一类受扰动的异构平面欠驱动智能体的基于角度的编队跟踪问题。一个代表性例子是一组在纵荡-横荡-艏摇平面中运行的欠驱动水面舰船（USVs），其中每艘船具有三个自由度，但只有两个独立控制输入，即纵荡力和艏摇力矩。期望编队由一组纵向偏移点（称为手点）以及这些点三元组之间规定的角度约束来表征。编队跟踪问题在领导者-跟随者交互图上研究，假设领导者以恒定速度运动。在相对速度测量可用的假设下，第一个控制律实现了具有内部稳定性保证的渐近编队跟踪。此外，引入了一种不依赖相对速度信息的第二种算法，该算法成功地将跟随者的手点驱动到其期望配置。给出了涉及USVs的数值仿真，以验证所提出方法的有效性。
英文摘要
This paper addresses the angle-based formation tracking problem for a class of heterogeneous planar underactuated agents subject to disturbances. A representative example is a group of underactuated surface vessels (USVs) operating in the surge-sway-yaw plane, in which each vessel has three degrees of freedom but only two independent control inputs, which are surge force and yaw moment. The desired formation is characterized by a set of longitudinal offset points, referred to as hand points, together with prescribed angular constraints among triplets of these points. The formation tracking problem is studied on a leader-follower interaction graph, assuming the leader moves at constant velocity. Under the assumption that relative velocity measurements are available, the first control law achieves asymptotic formation tracking with internal stability guarantees. Moreover, a second algorithm that does not rely on relative velocity information is introduced, which successfully drives the followers' hand points to their desired configuration. Numerical simulations involving USVs are presented to validate the effectiveness of the proposed approaches.
