Event-triggered unmanned surface vehicle cluster distributed cooperative controller, structure and method

Abstract

The invention discloses an event-triggered unmanned surface vehicle cluster distributed cooperative controller, structure and method. Through a communication mode based on event triggering, an unmanned surface vehicle sends own information to a communication network only when a preset event is satisfied, and non-periodic information sending is realized, so the information sending frequency is reduced, and the communication burden of an unmanned surface vehicle communication network is reduced; meanwhile, cooperative action execution of the unmanned surface vehicle is also triggered by an event, and an actuator is aperiodically updated according to the preset performance on demand, so that the updating frequency of the actuator is reduced, continuous action of the actuator is avoided, and the execution burden of the unmanned surface vehicle is relieved; and a parallel learning identification module not only can approach uncertain nonlinear dynamic states in the unmanned surface vehicle, but also can identify unknown control gains, so that cooperative control can still be kept without depending on accurate information of the unmanned surface vehicle, and cooperative control is more flexible and efficient.

Description

technical field [0001] The invention relates to the technical field of unmanned boat control, in particular to an event-triggered distributed cooperative controller, structure and method of unmanned boat clusters. Background technique [0002] Unmanned boats have the advantages of low cost, small and flexible, easy deployment and recovery, and have been widely used in military and civilian fields. However, the operating capability of a single boat is very limited, and the cluster operation of multiple unmanned boats should be considered in large-scale tasks. Cooperative control of multiple unmanned vehicles has become a hot field, in which cooperative path tracking has gained widespread attention as an effective control method. [0003] At present, there are many feasible solutions to the distributed coordination problem of unmanned vehicle swarms. But the prior art still has the following problems: [0004] First, in the existing distributed coordination method of unmann...

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Problems solved by technology

[0005] Second, in the existing unmanned boat cluster distributed coordination method, the update of the actuator of the unmanned boat is often continuous. Although this can ensure high control accuracy, the continuous update will increase the burden on the actuator and increase unnecessary Wear and tear, thus bringing unsafe hidden dangers

[0006] Third, most of the existing unmanned vehicle swarm distributed collaboration methods only observe or approximate the unknown dynamics of the model, without considering the control gain of the model, and the precise control gain needs to be measured through towing experiments, pool experiments, etc. Yes, but the cost of this kind of experiment is high

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