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中文摘要：
针对舰船编队系统中的协同控制问题进行了避碰和避障研究.运用了虚拟结构方法,通过在势函数中加入相对碰撞函数,解决了舰队之间的避碰问题;并通过设定安全航线,解决了避障问题.基于舰船的运动学和动力学特性,运用李亚普诺夫理论,设计了一种舰船编队控制器.最后对设计的控制器进行了仿真,验证其正确性和有效性.
英文摘要：
The problem of the collision avoidance and obstacle avoidance in the cooperative control of fleet systems is studied. Fleet collisions can be avoided by applying the virtual structure method and adding the relative collision function into the potential function. The purpose of obstacle avoidance is also achieved by setting safety routes. According to the characters of the kinematics and the dynamics of vessels, the controller for fleet formation is designed using Lyapunov theory. Finally, a simulation is given to verify the correctness and effectiveness of the proposed controller.
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