用扁平化与无模型控制结合，提升无人船的自主导航鲁棒性。
Guidance and Control of Unmanned Surface Vehicles via HEOL
- 将无人船模型简化为可平坦处理的悬停艇模型，设计基于扁平性的控制器。
- 在仿真中对两类船型均实现稳定控制，即使存在未建模干扰。
- 适合需要高鲁棒性无人船控制的工程场景，尤其适用于复杂海况。
本文提出一种基于HEOL的新方法，用于无人水面舰艇（USV）的制导与控制，通过结合基于平坦性的控制器与无模型智能比例-微分调节器（iPD），旨在开发通用的USV调节器。将经典的USV机动模型简化为一个可平坦的悬停艇模型，进而推导出基于平坦性的控制器，并通过iPD调节器闭合回路。该方法融合了平坦控制固有的鲁棒性与iPD的自适应能力。在仿真中应用于两种水面船舶：一种满足简化假设，另一种为文献中的典型通用型USV。结果表明，该控制器在存在未建模环境扰动时仍能有效稳定系统。
原文摘要 · Abstract (English)
This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV). To do so, the well-known USV maneuvering model is simplified into a nominal Hovercraft model which is flat. A flatness-based controller is derived for the simplified USV model and the loop is closed via an intelligent proportional-derivative (iPD) regulator. We thus associate the well-documented natural robustness of flatness-based control and adaptivity of iPDs. The controller is applied in simulation to two surface vessels, one meeting the simplifying hypotheses, the other one being a generic USV of the literature. It is shown to stabilize both systems even in the presence of unmodeled environmental disturbances.
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