Multi-AUV distributed cooperative tracking control method based on uncertain ocean current disturbance

Abstract

Provided is a multi-AUV distributed cooperative tracking control method based on an uncertain ocean current disturbance. The method includes: establishing an AUV kinematic model and a kinematic modelwith the uncertain ocean current disturbance, and initializing a system state, a sampling time and a control parameter; designing a path tracking controller of a leader AUV based on a Serret-Frenet method; proposing a distributed formation kinematic controller of a follower AUV to enable the follower AUV to more adapt to an underwater communication environment; conducting an input-state stabilityanalysis on the kinematic controllers designed for the leader and the follower, and forming distributed motion formation control of the multi-AUV system; and proposing a multi-AUV system kinematic controller containing an uncertain ocean current disturbance compensation item. According to the cooperative tracking control method based on a multi-AUV distributed formation control platform, the information amount of the controllers can be effectively reduced, the influence brought by the uncertain ocean current disturbance is avoided by employing a neural network, and a key base is laid for earlywarning and forecast of ocean disasters and guarantee of an ocean environment.

Description

technical field [0001] The invention relates to the field of multi-AUV distributed formation control, in particular to a multi-AUV distributed cooperative control method based on uncertain ocean current disturbance. Background technique [0002] With the rapid increase of the world's population, the deterioration of the environment, and the depletion of land resources, human beings are increasingly aware that the development and utilization of abundant marine resources is the material basis and environmental conditions for the survival and sustainable development of human society. The pressure below sea level is huge and the operating environment is harsh. People need to use autonomous underwater vehicles (AUV) to carry out ocean exploration, development and complete various underwater operations. The main feature of AUVs is that they can autonomously complete a series of tasks such as navigation, obstacle avoidance, target discovery, and completion of operations in complex ...

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Problems solved by technology

[0005] In order to overcome the shortcomings of the existing multi-AUV system, such as inaccurate underwater positioning, limited measurement and communication distance, etc., the present invention provides a multi-AUV distributed cooperative tracking control method based on uncertain sea current disturbance, which mainly utilizes the The relative position information of the controller simplifies the amount of information required by the controller, realizes the multi-AUV distributed cooperative tracking control in the presence of ocean current disturbance, ensures the stability of the system, and provides marine disaster warning and forecasting, marine environment protection, etc. new method

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