Multi-ocean-robot cooperative circular scanning method based on distributed model predictive control

A technology of model predictive control and scanning method, which is applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of inability to realize cooperative annular scanning, limited cooperative control accuracy and performance, etc., and can solve the problem of constrained parameters Optimize problems, improve optimization synergy performance, and save costs

Active Publication Date: 2018-11-27
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, this method considers the dynamics and kinematics behavior separately, and needs to design two parts of the controller. The accuracy and performance of the cooperative control are limited, and the cooperative ring scanning cannot be realized.

Method used

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  • Multi-ocean-robot cooperative circular scanning method based on distributed model predictive control
  • Multi-ocean-robot cooperative circular scanning method based on distributed model predictive control
  • Multi-ocean-robot cooperative circular scanning method based on distributed model predictive control

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specific Embodiment

[0088] Step 1. According to the mathematical model of marine robot error, a discrete nonlinear state space expression is established:

[0089]

[0090] In the above formula, the discrete period T is taken as 0.1s. In this example, the number of marine robots is selected to be three, and they can maintain communication with each other. The corresponding reference trajectory curvatures are δ 1 = 1, δ 2 = 1 / 2, δ 3 =1 / 3.

[0091] Step 2. Establish the objective function:

[0092]

[0093]

[0094]

[0095] where the initial value

[0096] Reference

[0097] Q 1 =diag([8,12,25,1,0.01,0]),Q 2 =diag([8,8,20,1,0.01,0]),Q 3 =diag([10,8,30,1,0.01,0])

[0098] P 1 =diag([8,12,25,1,0.01,0]),P 2 =diag([8,8,20,1,0.01,0]),P 3 =diag([10,8,30,1,0.01,0])

[0099] R 1 =diag([0.01,0.01,5]), R 2 =diag([0.02,0.02,5]),R 3 =diag([0.02,0.02,9])

[0100] Q 12 =Q 13 =10,Q 21 =Q 23 =12,Q 31 =Q 32 =14

[0101] In Synergy Metrics¶ j The initial value is set to 0

[01...

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Abstract

The invention relates to a multi-ocean-robot cooperative circular scanning method based on distributed model predictive control, and belongs to the field of multi-ocean-robot control. The method is mainly used for multi-ocean-robot cooperative circular scanning, and is characterized by firstly achieving the following of real targets to respective trajectories by using the real targets to track moving virtual targets on the trajectories; and then in consideration of a relationship between the travel angles between virtual targets in a cooperative circular scanning process, introducing a cooperative performance index, and online optimizing an optimal control sequence by using a distributed model predictive control algorithm. The method, by using the distributed model predictive control algorithm, greatly reduces the communication pressure between systems, and solves two problems including path following and cooperative control by using one controller, thereby reducing the design difficulty of a control system.

Description

technical field [0001] The design of the invention belongs to the field of industrial automatic control, and in particular relates to a multi-marine robot cooperative circular scanning method based on distributed model predictive control. Background technique [0002] China has about 3 million square kilometers of oceanic land and is very rich in marine resources. The exploration of the ocean and the development and utilization of ocean resources have become the key content of building a maritime power. [0003] In the process of ocean exploration and mapping, it is often necessary to scan and search an area efficiently, so as to determine the distribution of resources in the sea area or collect seabed data. Marine robots are irreplaceable tools for scanning and searching subsea areas. However, a single marine robot generally has limited search and scanning capabilities, and cannot perform fast and efficient operations on large areas of the sea, or the operation time is lo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李慧平胡季伟严卫生
Owner NORTHWESTERN POLYTECHNICAL UNIV
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