A distributed formation controller for networked underactuated unmanned boats and its design method

Abstract

The invention discloses a networked underactuated unmanned boat distributed formation controller and a design method thereof. The controller includes a communication network and a plurality of controller units, and the plurality of controller units are connected to the communication network respectively. connection; the controller unit includes a distributed cooperative guidance module, a neural dynamics optimization module, a command regulator, a speed control module, a dimension reduction disturbance observer and an underactuated unmanned vehicle. The distributed control mode of the present invention is more flexible, can effectively control large-scale formation clusters, has the advantages of strong resistance to individual failure, small communication overhead, and good scalability, making the formation controller more conducive to practical application. The invention satisfies the physical constraints of the underactuated unmanned boat, minimizes the control input in the transient control process, and improves the performance of the controller. The invention effectively reduces the calculation load of the control algorithm, 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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