无人机/船协同降落的鲁棒自适应模糊控制

doi:10.12305/j.issn.1001-506X.2026.06.28

系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (6): 2081-2088.doi: 10.12305/j.issn.1001-506X.2026.06.28

无人机/船协同降落的鲁棒自适应模糊控制

张国庆¹^,², 姚桂鹏¹^,², 李纪强¹^,²^,*

1. 大连海事大学航海学院，辽宁大连 116026
2. 大连海事大学水路交通控制全国重点实验室，辽宁大连 116026

收稿日期:2025-04-16 修回日期:2025-06-24 出版日期:2026-06-25 发布日期:2025-11-06
通讯作者: 李纪强
作者简介:张国庆（1987—），男，教授，博士，主要研究方向为神经网络控制、鲁棒控制
姚桂鹏（2001—），男，硕士研究生，主要研究方向为船舶运动控制、机/船协同制导与控制
基金资助:
国家优秀青年科学基金（52322111）；国家自然科学基金（52171291）；辽宁省“兴辽英才计划”青年拔尖人才（XLYC2203129）；大连市杰出青年科技人才（2022RJ07）；中央高校基本科研业务费专项资金（3132023502）资助课题

Robust adaptive fuzzy control for cooperative USV-UAV landing

Guoqing ZHANG¹^,², Guipeng YAO¹^,², Jiqiang LI¹^,²^,*

1. Navigation College，Dalian Maritime University，Dalian 116026，China
2. State Key Laboratory of Maritime Technology and Safety，Dalian Maritime University，Dalian 116026，China

Received:2025-04-16 Revised:2025-06-24 Online:2026-06-25 Published:2025-11-06
Contact: Jiqiang LI

摘要/Abstract

摘要：

针对无人机/船海空协同降落任务中存在的降落精度问题、船舶横摇对降落的影响等问题，提出一种基于虚拟制导的无人机/船协同降落鲁棒自适应模糊控制算法。首先，设计一种逻辑虚拟飞机/船舶制导方法，利用L₁虚拟船- L₂虚拟机生成满足降落要求的制导路径。其次，建立带有船舶横摇的四自由度模型，在模糊逻辑系统基础上结合动态面控制技术对系统未知模型参数的非线性项进行在线逼近并化简。最后，利用李雅普诺夫稳定性理论证明所提控制算法满足半全局一致最终有界稳定。仿真实验验证了所提算法的有效性。

关键词: 无人机/船, 协同降落, 动态面控制, 模糊逻辑系统

Abstract:

Aiming at the landing accuracy problem in the unmanned aerial vehicle/unmanned surface vessel sea-air cooperative landing mission and the impact of ship roll on landing, a robust adaptive fuzzy control algorithm for cooperative landing of unmanned aerial vehicle/unmanned surface vessel based on virtual guidance. Firstly, a logical virtual aircraft/ship guidance method, using L₁ virtual ship-L₂ virtual aerial vehicle is designed to generate guidance paths that meet the landing requirements. Secondly, a four-degree-of-freedom model with ship roll is established, and the unknown model parameter nonlinear terms are approximated and simplified online based on fuzzy logic system and dynamic surface control technology. Finally, Lyapunov stability theory is used to prove that the proposed control algorithm satisfies semi-global uniform and ultimately bounded. The effectiveness of the proposed algorithm is verified by simulation experiments.

Key words: unmanned aerial vehicle/unmanned surface vessel, cooperative landing, dynamic surface control, fuzzy logic system.

中图分类号:

U 664

张国庆, 姚桂鹏, 李纪强. 无人机/船协同降落的鲁棒自适应模糊控制[J]. 系统工程与电子技术, 2026, 48(6): 2081-2088.

Guoqing ZHANG, Guipeng YAO, Jiqiang LI. Robust adaptive fuzzy control for cooperative USV-UAV landing[J]. Systems Engineering and Electronics, 2026, 48(6): 2081-2088.

图/表 7

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无人机/船协同降落的鲁棒自适应模糊控制

Robust adaptive fuzzy control for cooperative USV-UAV landing

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