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

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...

AI Technical Summary

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 are designed without considering the constraints of system state constraints, input constraints, and energy constraints.

However, in practical applications, neural networks have disadvantages such as large computational burden and many adjustment parameters, which are not conducive to engineering realization.

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