UUV cluster coordinated control method considering communication topology transformation

Abstract

The invention provides a UUV cluster coordinated control method considering communication topology transformation. Firstly, a nonlinear UUV kinematics and dynamic equation is established by using a feedback linearization method and converted into a second-order affine system form; secondly, the continuous model of the UUV is transformed into a discrete model through a direct discretization method.Since a pilot is equipped with more accurate sensors, a cluster structure adopts a leader-follower type, the pilot sends status information to followers, and a communication topology diagram betweenthe followers is a dynamic map. A coordinated control protocol based on a mathematical model design under discrete time can ensure that the attitude and speed of each aircraft in the UUV cluster are consistent; the position and attitude information and speed information of each aircraft are obtained by a speedometer and a gyroscope. The driving control force and the torque calculated by the UUV cluster coordinated control method considering the communication topology transformation condition can achieve that navigation trajectories of each aircraft in the UUV cluster converge to a desired trajectory.

Description

technical field [0001] The invention relates to a UUV swarm coordination control method considering communication topology transformation, and belongs to the field of coordination control methods of underwater unmanned vehicle swarms. Background technique [0002] UUV (Underwater Unmanned Vehicle) has a wide range of applications in the military and commercial fields due to its advantages of small size, high autonomy, and flexible launch. It is an important tool for submarine escort, target detection, and deep-sea resource development. Through the UUV's own sensors, it can perceive its location and external environment, and complete specified tasks. Due to the limited detection range of a single UUV sensor, it cannot complete tasks well in complex applications such as large-scale ocean detection, deep-sea target search, and ocean map mapping. In order to make up for the physical limitations of a single UUV, multiple UUVs in formation can cooperate to complete complex tasks....

AI Technical Summary

Problems solved by technology

However, the communication between UUVs in the deep sea can only use sonar, and the data of other sensors including accelerators are all discrete information data. In order to solve the problem of coordinated control of UUV clusters under the condition of discrete information, the present invention proposes a communication UUV swarm coordination control method based on topology transformation

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