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Unmanned surface vessel formation control method based on leader follow-up structure

A control method and technology of surface boats, applied in the field of formation control of unmanned surface boats, capable of solving problems such as insufficient execution capability of a single unmanned surface boat

Active Publication Date: 2017-08-22
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the face of complex work tasks and changing marine working environments, the execution capability of a single unmanned surface vehicle may appear to be insufficient

Method used

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  • Unmanned surface vessel formation control method based on leader follow-up structure

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Embodiment

[0055] This embodiment provides a method for controlling the formation of unmanned surface vehicles based on the leader-follower structure. This method aims at the problems of preventing collision and maintaining connection in the formation control of unmanned surface vehicles, and transforms these two problems into constraints of position tracking error. Problem, a formation control method based on the leader-follower structure is proposed. The schematic diagram of the leader-follower formation structure of multiple unmanned surface vehicles is as follows figure 1 As shown, the structural block diagram of the formation control system of multiple unmanned surface vehicles is as follows: figure 2 As shown, the method specifically includes the following steps:

[0056] Step (1), setting up the dynamic model of a plurality of unmanned surface vehicles;

[0057] The dynamic model of described multiple unmanned surface craft is:

[0058]

[0059] Among them, u i Indicates th...

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Abstract

The invention discloses an unmanned surface vessel formation control method based on a leader follow-up structure. The method is used for multiple fully-driven unmanned surface vessel systems, and a formation control method based on a leader-follower is provided to prevent any follower from colliding and being kept in connection with a leader thereof. The method comprises following steps of establishing a dynamic model of an unmanned surface vessel; setting a position output tracking error constraint condition of a follower; designing a tracking error conversion function; applying the dynamic surface control technology and designing a virtual controller; designing a disturbance observer for compensating external unknown interference like wind wave flows; and constructively designing a tracking formation controller. According to the invention, it is ensured that any follower is always kept away from the leader thereof for a certain safe distance, and is in a communication connection range of the leader thereof; and by use of the dynamic surface control technology, accelerated speed of the leader is prevented from being used and practicability of a design scheme is improved.

Description

technical field [0001] The invention relates to the field of formation control of unmanned surface vessels, in particular to a formation control method of unmanned surface vessels based on a leader-following structure. Background technique [0002] An unmanned surface vehicle is a surface vehicle that has the ability to navigate autonomously in the actual ocean environment, and can autonomously complete tasks such as environmental perception and target detection. Unmanned surface vehicles have broad application prospects, and can be used for research, exploration, mining and transportation of marine resources, detection and early warning of severe sea conditions (such as strong winds, huge waves, tropical storms, etc.), exploration and monitoring of marine geological environments, Observation of marine hydrology, and marine meteorological research and other fields. [0003] As far as the current level of unmanned surface vehicle technology is concerned, a single unmanned su...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 戴诗陆何树德方冲李烈军
Owner SOUTH CHINA UNIV OF TECH
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