Master-slave type cooperative control method for autonomous underwater vehicles

A collaborative control and underwater navigation technology, applied in the field of control, can solve problems such as limiting engineering applications and not considering the influence of underwater ocean currents on system disturbances, and achieve the effect of collaborative control

Inactive Publication Date: 2014-10-01
OCEANOGRAPHIC INSTR RES INST SHANDONG ACAD OF SCI
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In the document , a centralized virtual structure collaborative control method is adopted, and the virtual structure formation framework is used to realize the collaborative control of robots. However, the virtual structure is hypothetical and does not exist in re...

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  • Master-slave type cooperative control method for autonomous underwater vehicles
  • Master-slave type cooperative control method for autonomous underwater vehicles
  • Master-slave type cooperative control method for autonomous underwater vehicles

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[0035] Under the inertial coordinate system, the main aircraft measures its initial position and attitude state through various sensors of its own. The initial state is p i (0)=[x i (0)y i (0) θ i (0)] T =[2m 1m π / 6rad] T , the velocity and angular velocity measured by acceleration and gyroscope are respectively v=3.5m / s, ω=0rad / s and remain unchanged. Measure the initial position and attitude state of the aircraft through its various sensors, and its initial state is p j (0)=[x j (0)y j (0) θ j (0)] T =[1.8m -1.2m 0rad] T , the desired spacing desired tracking angle but The underwater disturbance correlation matrix is ​​the following formula (5):

[0036] D = - 0.5 0 1 1 , G = ...

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Abstract

The invention discloses a master-slave type cooperative control method for autonomous underwater vehicles. The method comprises the first step of regarding an external ocean current as external disturbance and conducting mathematical modeling on the external ocean current with regard to influences of the external ocean current, the second step of establishing an inertial coordinate system of a system and conducting vector resolution on relative speeds of the two underwater vehicles in the direction of a connecting line between the centroids of the two underwater vehicles and the direction perpendicular to the connecting line, and establishing a cooperative control motion model of the system, the third step of converting an original system motion model into a linear system model with the external disturbance through a feedback linearization method, and the fourth step of designing an optimal feedforward-feedback controller of the system motion model after conversion in order to suppress influences of the external disturbance. Through the master-slave type cooperative control method, one autonomous underwater vehicle can be controlled with high tracking accuracy and low driving energy to track the other autonomous underwater vehicle at a certain angle and distance on the condition of existence of the ocean current and other external disturbance, so cooperative control over the autonomous underwater vehicles can be achieved.

Description

technical field [0001] The invention relates to a control method, in particular to a master-slave cooperative control method for an autonomous underwater vehicle. Background technique [0002] Coordinated control of multiple autonomous underwater vehicles (AUVs) is of great significance for marine scientific investigation and marine development. Cooperative control of multiple AUVs can significantly improve the capabilities of AUVs in many applications including ocean sampling, imaging, surveillance, and communication. Compared with terrestrial multi-robot (or multi-agent) cooperative control, multi-AUVs cooperative control is particularly difficult. Although the problem of multi-AUVs cooperative control has received extensive attention in recent years, the research on multi-AUVs cooperative control is not as mature as land multi-robot (or multi-agent) cooperative control. The relevant research on the cooperative control of multi-AUVs has just started, and the research res...

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Application Information

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IPC IPC(8): G05B13/04G05D1/10
Inventor 袁健周忠海牟华李俊晓
Owner OCEANOGRAPHIC INSTR RES INST SHANDONG ACAD OF SCI
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