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Homogeneous unmanned boat cluster formation method based on undirected connection network

A network-connected and unmanned boat technology, applied in the field of marine engineering unmanned boats, can solve problems such as unclear adjustment methods and quantitative optimization of the transient response process, achieving reduced complexity, less system requirements, and energy consumption little effect

Active Publication Date: 2018-08-17
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

However, the adjustment method of the three parameters is not clear. The previous numerical design method relied on experience and trial and error. Different engineers will get different control effects, especially the transient response process of the system cannot be quantitatively optimized.

Method used

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  • Homogeneous unmanned boat cluster formation method based on undirected connection network
  • Homogeneous unmanned boat cluster formation method based on undirected connection network
  • Homogeneous unmanned boat cluster formation method based on undirected connection network

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Embodiment

[0081] Such as figure 1 As shown in Fig. 1, a homogeneous UAV swarm formation method based on an undirected connected network, the calculation in this method is realized by software in the control unit of the UAV. The control unit can be an industrial computer or a small embedded system. Taking the electric drive unmanned boat as an example, the implementation process of this method includes the following six specific implementation steps.

[0082] Step 1: Analysis of topology structure of communication network of UAV formation. Specifically:

[0083] (1) Model the communication network topology of the UAV formation with an undirected graph. by figure 2 For example, each node in the figure represents each unmanned boat in the formation system, and the connection between the nodes means that the unmanned boat can communicate.

[0084] (2) Calculate the Laplacian matrix L corresponding to the modeled communication network topology graph. by figure 2 As an example, the L...

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Abstract

The invention relates to a homogeneous unmanned boat cluster formation method based on an undirected connection network. The method comprises the following steps of 1) acquiring the topological structure of an unmanned boat formation communication network; 2) constructing an individual unmanned boat model and identifying parameters in the model, wherein the parameters include a static yawing rategain K and an effective yawing rate time constant T; 3) constructing the H2 optimal formation controller or the H infinite optimal formation controller of a homogeneous unmanned boat cluster based onundirected connection network; 4) converting the H2 or H infinite optimal formation controller into an optimal PID formation controller and discretizing the optimal PID formation controller; 5) carrying out quantitative parameter adjustment on the optimal PID formation controller so as to restrain an error and improve robust performance; and 6) generating a formation control command and outputting. Compared with the prior art, by using the method of the invention, the completely-distributed formation controller is possessed, the convenient PID controller is provided, nominal performance and robust performance are balanced and there are other advantages.

Description

technical field [0001] The invention relates to the technical field of ocean engineering unmanned boats, in particular to a group formation method of homogeneous unmanned boats based on an undirected connected network. Background technique [0002] Swarm behavior is a collective behavior of organisms. The most typical example is that fish gather together to circle or swim in a specific direction. Inspired by biological swarms, researchers began to study unmanned vehicle swarm technology. [0003] The unmanned boat swarm is integrated by multiple unmanned boats undertaking different tasks based on an open architecture. The multi-unmanned boat is centered on communication network information, based on the collaborative interaction capability between unmanned boats, and supported by the node operation capability of a single unmanned boat, to build a system with the advantages of anti-interference, low cost, and distributed functions. The unique formation system can realize mil...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 陆宇叶菲张卫东张国庆孙志坚赵亚东
Owner SHANGHAI JIAO TONG UNIV
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