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Multi-AUV formation method based on predictive control under communication limit

A predictive control and controller technology, applied in the field of multi-AUV formation, can solve the problems of not particularly good quality, narrow underwater acoustic communication bandwidth, unfavorable formation formation and formation, etc.

Inactive Publication Date: 2018-09-28
HARBIN ENG UNIV
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Problems solved by technology

The only effective communication method underwater is underwater acoustic communication, but the bandwidth of underwater acoustic communication is relatively narrow, the distance is short, and the quality is not particularly good. Communication failure and delay will increase the instability and uncontrollability of the system. Facilitate formation formation and formation maintenance

Method used

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  • Multi-AUV formation method based on predictive control under communication limit
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  • Multi-AUV formation method based on predictive control under communication limit

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Embodiment Construction

[0085] The present invention will be further described below in conjunction with accompanying drawings and cases.

[0086] The process of the present invention is as figure 1 As shown, when the communication condition between multiple AUVs is weak communication, the predictive controller is designed based on the logical communication control strategy, and the coordinated formation is achieved by estimating the coordination state of the AUVs. The communication delay is set in the program as 5s, the follower does not receive the information from the leader until 5s later, and the data packet loss means that all the information within 5s has been lost, the information obtained by the follower is discrete, and the designed predictive controller can predict the information well Estimate and realize the formation formation, which is mainly explained by the time delay situation.

[0087] Step 1: Establish the horizontal plane model of AUV:

[0088]

[0089] in: m ur =m-Y r ,...

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Abstract

The invention relates to a multi-AUV formation method based on prediction control under the communication limit. According to the invention, a prediction controller is designed according to the control strategy of logic communication, and the method is suitable for the multi-AUV formation control under the weak communication constraints including data packet loss and communication time delay. Themethod mainly comprises the design of a single-AUV path tracking controller, the multi-AUV formation control when the communication condition is ideal, and the design of the prediction controller based on the logic communication when the weak communication constraints exist. According to the method, a large amount of information exchange is not needed among AUVs in the formation process, the plurality of AUVs can still be formed and maintain a desired queue under the weak communication constraints, the method is simple, and the application range is wide.

Description

technical field [0001] The invention relates to a multi-AUV formation method, in particular to a multi-AUV formation method based on predictive control under communication constraints. Background technique [0002] When AUVs perform formation tasks, they need to obtain information such as the position, heading, and speed of other AUVs in the formation. The only effective communication method underwater is underwater acoustic communication, but the bandwidth of underwater acoustic communication is relatively narrow, the distance is short, and the quality is not particularly good. Communication failure and delay will increase the instability and uncontrollability of the system. Conducive to formation formation and formation maintenance. In view of this situation, some scholars divide the formation control into two sub-problems: at the bottom layer, AUVs move to the virtual target according to the control law to achieve path tracking; at the high level, the movement between AU...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 李娟张建新马涛袁锐锟陈兴华杜雪
Owner HARBIN ENG UNIV
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