Underactuated multi-unmanned ship formation tracking method based on master-slave distributed model predictive control

Abstract

The invention relates to an optimized formation tracking control method based on distributed model predictive control and belongs to the field of motion control of underactuated multi-surface unmannedships. The method comprises the following steps: 1) establishing an underactuated unmanned ship motion model and a tracking error model; 2) establishing a performance index of a master unmanned ship,proposing a model predictive tracking control algorithm, and calculating an optimal input at the current time according to the performance index thereof; 3) based on the acquired neighbor node information, establishing the performance index of each unmanned ship, respectively, proposing a distributed model predictive control algorithm and calculating an optimized input of the current time according to the performance index; 4) updating the predictive information and continuously and iteratively optimizing the formation of the whole unmanned ship so that a certain formation is kept between theunmanned ships so as to track the target unmanned ship.

Description

technical field [0001] The invention belongs to the field of motion control of multiple underactuated surface unmanned ships, in particular to an optimized formation tracking control method based on distributed model predictive control. Background technique [0002] Unmanned ships have the characteristics of being unmanned and controllable. In recent years, they have received more and more attention, and have gradually become an important development direction in modern ocean observation technology. In the development and detection of some unknown areas or potentially dangerous areas, the use of unmanned ships can greatly reduce manpower and risk factors. Unmanned ships not only have the above-mentioned advantages, but also have incomparable advantages in terms of price. Compared with expensive AUVs, small ships with positioning, navigation and control functions of tens of thousands to one hundred thousand yuan are cheaper. The cost performance advantage is self-evident. U...

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Problems solved by technology

[0005] At present, some achievements have been made in using multiple unmanned ships to solve the problem of formation tracking control, but there are mainly the following defects: 1) Some existing research results adopt a centralized model, or require global information, which is impractical

Specifically, some methods need to assume that the target information can be detected by each subsystem, which essentially requires global information, and in actual tracking tasks, not all unmanned ships can detect the target due to the limited detection range information

In addition, as the number of unmanned ships in the formation increases, the calculation amount of centralized control will be huge, and the central CPU may not be able to meet the real-time requirements.

2) Some research results do not consider the constraints of actual optimization performance and control input

For example, Peng et al. in (Zhou-hua Peng, Dan Wang, Lan-Wei Yao, et al. Robust Leader-Follower Formation Tracking Control of Multiple Underactuated Surface Vessels[J]. China Ocean Engineering (English Edition), 2012, 26(3 ):521-534.) Neural network and backstepping method were used to study multi-unmanned ship formation control problem, Qi Xiaowei in (Xiao-Wei Qi, Ren G, University D M.Ship track control based on leader-follower[J] .Ship&Boat, 2016.) adopts a master-slave-based target tracking method to realize the multi-unmanned ship cooperative formation control with model uncertainty and unknown wave current interference items, but the above-mentioned articles do not consider the actual situation of the unmanned ship. Controlling input constraints, also does not consider optimization performance metrics for formation coordination

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