Networked under-actuated unmanned boat distributed formation controller and design method thereof

An underactuated, unmanned boat technology, applied in the field of unmanned boat control, can solve the problems of heavy neural network computing burden, guidance signals that do not consider system state constraints, input constraints, energy constraints, and unfavorable engineering implementation.

Inactive Publication Date: 2018-10-26
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

This method requires the control center node to have a large communication bandwidth, which is difficult to meet in actual situations such as large-scale formation groups, complex tasks and environments.
[0006] Second, in the existing unmanned boat formation control methods, most of the guidance signals ar

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  • Networked under-actuated unmanned boat distributed formation controller and design method thereof
  • Networked under-actuated unmanned boat distributed formation controller and design method thereof
  • Networked under-actuated unmanned boat distributed formation controller and design method thereof

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Embodiment Construction

[0056] In the following, the present invention will be further described by taking a communication network composed of five underactuated unmanned boats and three virtual leaders as an example in conjunction with the accompanying drawings. figure 1 Shown is a schematic structural diagram of the networked underactuated unmanned boat distributed formation controller proposed by the present invention, each underactuated unmanned boat in the underactuated unmanned boat formation system satisfies the kinematics and Kinetic model. In this example simulation, there are five underactuated UAV nodes and two virtual leader nodes. Among them, No. 1, No. 3 and No. 5 under-actuated UVs can directly obtain the virtual leader information, No. 2 and No. 4 under-actuated UVs can only receive the location information of neighbor under-actuated UVs. The control target in this example is Five underactuated UAVs can track a given parameterized path curve and maintain a triangular formation forma...

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Abstract

The invention discloses a networked under-actuated unmanned boat distributed formation controller and a design method thereof. A controller comprises a communication network and a plurality of controller units, and the plurality of controller units communicate with the communication network. Each controller unit includes a distributed cooperative guidance module, a neurodynamic optimization module, a command regulator, a speed control module, a dimensionality-reduction disturbance observer, and an under-actuated unmanned boat. The distributed control method of the invention is more flexible, can realize effective control of large-scale formation clusters, and has the advantages of strong anti-individual failure, small communication overhead, and good expansibility; and the formation controller is more advantageous for practical application. The networked under-actuated unmanned boat distributed formation controller minimizes the control input in the transient control process while satisfying the physical constraints of the under-actuated unmanned boat, and improves the performance of the controller. The computational load of the control algorithm is effectively reduced, thereby improving the overall control performance of the controller.

Description

technical field [0001] The invention relates to the field of unmanned boat control, in particular to a networked underactuated unmanned boat distributed formation controller and a design method thereof. Background technique [0002] Chinese patent CN 107065877 A provides a method for tracking unknown targets based on the relative position of the distributed formation spherical encirclement. The formation encirclement control can be realized in three-dimensional space. This method is simple and reliable, and can be used in the fields of ocean and planetary collaborative exploration. [0003] Chinese patent CN 105584599 A discloses a marine environment monitoring system based on unmanned boat formation movement, which includes an unmanned boat formation movement control system, a marine environment monitoring sensor system, an unmanned boat of a wireless communication system, and remote marine environment monitoring system; each unmanned boat formation motion control system dr...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206Y02P90/02
Inventor 彭周华古楠王丹刘陆
Owner DALIAN MARITIME UNIVERSITY
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