Full-actuating type autonomous underwater vehicle cooperative control method

Abstract

The invention discloses a full-actuating type autonomous underwater vehicle (FAAUV) cooperative control method. The method comprises the following steps that a second-order discrete motion model and a kinetic model of an FAAUV are built firstly; then, due to different positioning errors of each underwater robot navigation positioning device, route information owned by the underwater robot navigation positioning devices is inconsistent; the route information is regarded as virtual pilot information, the virtual pilot information is composed of a series of continuous way points, and a finite time consistency controller combining a finite time control method and consistency is provided for cooperatively controlling the speed and the position of the FAAUV within the finite time; each underwater robot utilizes a tachymeter and a gyroscope for measuring navigational speed and the moving posture of itself, and the virtual pilot information and the speed information of the underwater robots are played on time. According to the control method, actuating control force of different shafts of a plurality of FAAUVs is calculated, and the aim that a plurality of underwater vehicles reach the preset formation shape within the finite time is achieved.

Description

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

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Problems solved by technology

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 reality. exists, which limits the practical engineering application

In the document , Do studied the cooperative control of land robots under the condition of limited communication, but it did not consider the influence of underwater ocean current disturbance on the system

[0003] Most of the current control methods use the trajectory tracking control method in infinite time, which cannot guarantee that the trajectory will be formed within a limited time, and multi-machine coordinated control requires multiple robots to form a predetermined trajectory shape within a limited time

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