Fixed time formation control method based on finite time disturbance observer

Abstract

The invention discloses a fixed time formation control method based on a finite time disturbance observer and belongs to the field of multi-unmanned-ship cooperative control. The method comprises thefollowing steps: establishing dynamics and kinematics models of a piloted unmanned ship and a following unmanned ship, establishing an expected trajectory model of a piloted unmanned ship subsystem, and designing a fixed time tracking controller of the piloted unmanned ship subsystem in combination with an integral sliding mode surface so as to realize piloted unmanned ship trajectory control; designing a virtual speed of the following unmanned ship subsystem by adopting a backstepping method to determine a position error between the piloted unmanned ship and the following unmanned ship, and adjusting a tracking error between the piloted unmanned ship and the following unmanned ship by designing a tracking controller of the following unmanned ship; adopting a finite time disturbance observer and providing a fixed time formation control strategy based on a finite time observer in a complex environment in combination with a fixed time control law. Therefore, accurate formation control between the piloted unmanned ship and the following unmanned ship is realized, the maximum convergence time is calculated, the thought of a finite time disturbance observer is provided, and rapid and effective identification of external disturbance can be realized, so that the robustness of an unmanned ship formation system is improved.

Description

technical field [0001] The invention relates to the field of coordinated control of multiple unmanned ships, in particular to a fixed-time formation control method based on a finite-time disturbance observer. Background technique [0002] In recent years, Unmanned Surface Vehicles (USV) have played an increasingly important role in military and civilian fields, such as intelligence reconnaissance, water environment detection, and chart drawing. When faced with complex water environment and diverse operational tasks, a single unmanned ship appears weak. Coordinated control of multiple unmanned vehicles has gradually become a research hotspot due to its advantages of high efficiency, wide coverage, and strong robustness. In the field of cooperative control of multiple unmanned vehicles, one of the most important issues is formation control. There are five common strategies: graph theory strategy, behavior-based control strategy, virtual leader control strategy, neural network...

AI Technical Summary

Problems solved by technology

[0005] The progressive convergence algorithm has its own disadvantages, that is, the convergence time is unpredictable, which also leads to the unpredictable stability of the system; although the finite time convergence algorithm has greatly improved the tracking accuracy and convergence speed of previous algorithms, it cannot To obtain the convergence time, the following control methods were mainly used to deal with the disturbance, such as nonlinear disturbance observer, dimension reduction disturbance observer, etc.

Its existence cannot realize fast and efficient identification of complex disturbances in the system

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