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《中国舰船研究》近日在线发表了2024年第一期英文翻译版文章，题为
Optimal trajectory tracking control of unmanned surface vehicle formation under unknown disturbances
未知扰动下的无人艇编队优化轨迹跟踪控制
A finite-time disturbance observer-based optimal backstepping control (FDO-OBC) method is proposed for the issue of unknown disturbances and formation changes in the formation trajectory tracking of unmanned surface vehicles (USVs).
First, the USV formation control framework is established on the basis of the virtual structure method, and the kinematics and dynamics formation controllers are designed. Second, a finite-time disturbance observer is introduced to estimate and compensate for unknown environmental disturbances in real time. Further, a dynamic trajectory optimization strategy based on optimal backstepping control is proposed for the trajectory tracking issue of formation change, and the information of the disturbance observer is used to calculate the optimal control input and achieve the dynamic optimization of USV formation trajectory tracking. Finally, Lyapunov stability theory is used to demonstrate the stability of the designed formation control method.
The simulation results indicate that the proposed control strategy can effectively improve the accuracy and robustness of the USV formation system.
The FDO-OBC method provides a new technical means for the design of USV formation control systems under unknown environmental disturbances.
针对水面无人艇（USV）编队轨迹跟踪中存在的未知扰动和队形变化问题，提出一种基于有限时间扰动观测器的最优反步控制（FDO-OBC）方法。
首先，基于虚拟结构法，建立无人艇编队控制框架，并设计运动学和动力学编队控制器；其次，设计有限时间扰动观测器，实时估计补偿未知环境扰动；然后，针对编队队形变化的轨迹跟踪问题，提出基于最优反步控制的动态轨迹优化策略，利用扰动观测器信息来计算最优控制输入，实现无人艇编队轨迹跟踪的动态优化；最后，采用李雅普诺夫稳定性理论证明该编队控制方法的稳定性。
仿真对比结果表明，FDO-OBC策略可有效提高无人艇编队系统的精确性和鲁棒性。
对于面向扰动环境下的无人艇编队控制系统设计，FDO-OBC方法提供了一种新的技术手段。
基于FDO-OBC的USV编队轨迹跟踪控制图
往期英文文章回顾：
1.Unmanned ship heading tracking control strategy with state quantization and input quantization/带有状态/输入量化的无人艇航向跟踪控制
2. Predefined time tracking control of underactuated surface vessel with input saturation/基于输入饱和的欠驱动水面舰艇预定义时间跟踪控制
3.Design of ship course keeping controller based on zero-order holder and nonlinear modification/基于非线性修饰和零阶保持器的船舶航向保持控制
4. Variable output model-free adaptive heading control method for unmanned surface vehicle/变输出无模型自适应无人艇艏向控制方法分析
编辑部整理了2019年以来出版的英文双语论文，每篇均对应出版了中英文两种语言版本，并按专业进行了分类。请点击“2019年以来双语版论文汇总”查看。
中国舰船研究
Chinese Journal of Ship Research
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