The invention provides an aircraft, cable and boat consistency cross-domain cooperative control method and
system based on
model prediction, and relates to the technical field of cross-domain unmanned
system cooperative control, and the method comprises the steps: constructing an unmanned aerial vehicle-
water supply cable-unmanned boat cross-domain cooperative prediction model; acquiring
system operation state information; generating dynamic compensation information through a neural network to correct the prediction model; constructing a consistency
error state; building a
model prediction control
optimization problem based on the corrected model and the
error state, and solving the problem to obtain an
optimal control instruction; and outputting an instruction to an execution mechanism to realize collaborative movement. According to the method, the neural network is introduced to carry out online compensation on uncertain items of the model, and rolling optimization is carried out under a multi-constraint condition by utilizing
model prediction control, so that the technical problems of low cooperative
consistency control precision and insufficient robustness of a cross-domain heterogeneous platform in a complex environment are solved; and the cooperative control precision and the
operation safety of the cable boat system are obviously improved.