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

A tracking control and distributed technology, applied in the field of multi-AUV distributed formation control, can solve the problems of limited measurement and communication distance, inaccurate underwater positioning, etc.

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A tracking control and distributed technology, applied in the field of multi-AUV distributed formation control, can solve the problems of limited measurement and communication distance, inaccurate underwater positioning, etc.

CN108303891BActive Publication Date: 2019-08-13ZHEJIANG UNIV

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Embodiment 1

[0161] Example 1: Multi-AUV Cooperative Formation Control Based on Straight Path

[0162] figure 2The schematic diagram of line tracking is shown, the hollow circle indicates the initial position of the multi-AUV, the solid circle indicates the key position of the multi-AUV, the black realization indicates the given path, and the black dotted line is the trajectory of the AUV. Depend on figure 2 It can be seen that multiple AUVs can form a good motion formation and path tracking effect from any initial position. from image 3 It can be seen that during the movement of multiple AUVs, even if there is uncertain ocean current interference, the relative error between multiple AUVs gradually decreases and tends to 0, and they have a consistent movement direction. Therefore, the present invention provides a collaborative tracking control method based on a multi-AUV distributed formation control platform that can effectively reduce the amount of controller information, while usi...

Embodiment 2

[0165] Example 2: Multi-AUV Cooperative Formation Control Based on Hybrid Curve Path

[0166] In order to verify the effectiveness of the present invention, under the premise of not changing the control parameters, the given path curve is set as a mixed curve, that is, a mixture of sinusoidal curve and straight line. from Figure 4 It can be seen that the present invention can quickly and effectively realize the coordinated tracking control of a given path. from Figure 4 Partial enlarged view of and Figure 5 It can be seen that when multiple AUVs track a sinusoidal curve, they have been able to achieve consistent formation movement in direction and position. Therefore, the present invention aims at problems such as inaccurate underwater self-positioning of multi-AUV mobile platforms, limited measurement and communication distances between AUVs, and the influence of uncertain ocean current disturbances, etc., and proposes a multi-AUV distributed collaborative Track contro...

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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 ...

Claims

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Application Information

Patent Timeline

13 Aug 2019

Publication

CN108303891B

IPC: G05B13/04

CPC: G05B13/042

Inventors: 刘妹琴; 施琳琳