论文标题
具有浓度反馈的未知标量字段中的分离线跟踪
The Isoline Tracking in Unknown Scalar Fields with Concentration Feedback
论文作者
论文摘要
这项工作的分离线跟踪与传感车辆的控制设计有关，以跟踪未知标量场的所需隔离线。为此，我们为在GPS贬低的环境中为Dubins车辆提供了一个简单的PI状控制器。我们的关键思想在于标准PI控制器中新型滑动表面误差的设计。对于圆形场，我们表明，Plike控制器可以将车辆全球调节到所需的分离线，并以稳态误差可以通过增加P增益来任意减少，并被PI样控制器消除。对于任何平滑场，Plike控制器都能够实现局部调节。然后，将其扩展到单一集成剂车辆和双集积体车辆的情况。最后，通过对固定翼无人机和四型模拟器的模拟来验证我们方法的有效性和优势。
The isoline tracking of this work is concerned with the control design for a sensing vehicle to track a desired isoline of an unknown scalar field. To this end, we propose a simple PI-like controller for a Dubins vehicle in the GPS-denied environments. Our key idea lies in the design of a novel sliding surface based error in the standard PI controller. For the circular field, we show that the P-like controller can globally regulate the vehicle to the desired isoline with the steady-state error that can be arbitrarily reduced by increasing the P gain, and is eliminated by the PI-like controller. For any smoothing field, the P-like controller is able to achieve the local regulation. Then, it is extended to the cases of a single-integrator vehicle and a doubleintegrator vehicle, respectively. Finally, the effectiveness and advantages of our approaches are validated via simulations on the fixed-wing UAV and quadrotor simulators.
