Unmanned ship group formation cooperative control method considering time-varying drift angle and attitude adjustment

Abstract

The invention discloses an unmanned ship group formation cooperative control method considering a time-varying drift angle and attitude adjustment. The method comprises the following steps of establishing a unified unmanned ship group formation graph theory representation method; establishing a three-degree-of-freedom kinetic model and a kinematics model which are universal for the unmanned ship; giving an objective function of formation control according to the planned path, the attitude parameter and the expected course; according to the established kinetic model and kinematic model, constructing an expansion observer for model uncertainty and external disturbance estimation; and according to the established expansion observer and the control target, designing an unmanned ship formation cooperative active-disturbance-rejection control law. The anti-disturbance control method based on linear tracking is provided, the self-adaptive control rate is given, time-varying drift angle compensation and attitude adjustment of the unmanned ship group formation are achieved, and therefore integrated regulation and control of formation position tracking and attitude adjustment of the unmanned ship group can be achieved.

Description

Technical field [0001] The present invention belongs to the field of unmanned boat, and more particularly to a unmanned boat group formation synergistic control method for consideration of time-bearing angles and attitude adjustment. Background technique [0002] Tracking control of the unmanned boat is an important guarantee of its independent tracking, follower, and the boat group. This year's research hotspots are followed by the control, where traditional use of distributed follow-up control architecture is multi-sports body. Consistency formation control method, the method has a good effect when the position between the position and the operation direction is fixed. Traditional control methods typically process the boat as a rigid body, but during actual operation, due to inconsistencies of external interference, and arranged, the gesture between adjacent boats is adjusted, drifting when rotating during the formation. The relative position change caused by changes in angle i...

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Problems solved by technology

The traditional control method usually treats the boat as a rigid body, but in the actual operation process, due to the inconsistency of external disturbances, and the way of arrangement changes all the time, and when rotating in formation, the attitude adjustment and drift between adjacent boats will be difficult. It is difficult to calculate the relative position change caused by the real-time change of the angle. At the same time, due to the limited communication radius between the follower and the leader, in order to communicate timely and effectively in the scene of a super large communication radius in the sea, a distributed formation control algorithm is proposed to ensure that the control system can Compensate the time-varying drift angle and adjust the attitude in real time to achieve the purpose of cooperative operation of the boat group

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