Finite time convergence unmanned ship cooperative controller design method

Abstract

The invention discloses a finite time convergence unmanned ship cooperative controller design method. A finite time convergence unmanned ship cooperative controller comprises a finite time extended state observer, a finite time distributed path control guidance module, a nonlinear tracking differentiator, an anti-interference dynamic control module and a under-actuated unmanned ship. By introducing an artificial potential energy function into the design of a distributed path control controller, the invention designs a distributed cooperative path manipulation controller with collision avoidance, obstacle avoidance and communication maintenance so as to better adapt to the complex and changeable ocean situation in reality. The method is only based on position and yaw angle information and can realize unified estimation of uncertainty of an underactuated unmanned ship model and unknown disturbance caused by the complex sea conditions; and meanwhile, the characteristic of finite time convergence can make the cooperative controller obtain better observation effect and anti-interference ability, and the application range of an existing distributed cooperative path control controller isexpanded.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to a design method for a limited-time convergent unmanned ship cooperative controller. Background technique [0002] The ocean accounts for 71% of the earth's surface area. Because it contains extremely rich energy and has important strategic significance, it has become the focus of the game between major countries, and all countries are committed to the research of marine equipment. Among them, unmanned ships have been widely used in military and civilian fields such as amphibious landing operations, sea, land and air coordination, maritime cruise supervision, and ocean data measurement, and have achieved great success, becoming an important research direction. The operating capability of a single unmanned ship has limitations, so it is possible to consider the collaborative operation of an intelligent unmanned ship formation to improve work capacity and work efficiency. Espec...

AI Technical Summary

Problems solved by technology

In addition, the communication range of an unmanned ship may be limited by the communication equipment. When the ship is not within the effective communication range, multiple unmanned ships will not be able to complete the established cooperative path manipulation tasks.

[0005] Second, in the existing unmanned ship cooperative path control methods, most of them do not consider the expected effect within a limited time

[0006] Third, in the existing cooperative path control methods for unmanned ships, it is necessary to pre-specify a parameterized path for each unmanned ship, which will lead to increased network bandwidth requirements and increased path planning costs

Although a few studies have proposed distributed path manipulation methods, they are only applicable to fully-actuated unmanned ships and cannot be applied to under-actuated unmanned ships.

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