Multi-UUV-formation coordinated control method under condition of velocity state absence

Abstract

The invention discloses a multi-UUV-formation coordinated control method under the condition of velocity state absence. The method comprises the following steps: carrying out formation initialization;carrying out feedback linearization transformation to obtain a linear motion state vector under a feedback linearization coordinate system; designing a formation coordination controller under the feedback linearization coordinate system; based on the feedback linearization inverse operation, converting control input into coordinated control input in a geodetic coordinate system; calculating the coordinated control input to obtain a control instruction of a UUV actuator; determining complete motion status information at the current moment; carrying out data transmission and sharing according to formation coordination relation and communication topological relation; and judging whether a UUV formation finishes a formation task. The method effectively improves autonomy and stability of the UUV formation under the condition of speed state absence and external disturbance, optimizes the formation control algorithm, expands the application range of the UUV formation control method, and improves anti-disturbance performance of the formation in the task process.

Description

technical field [0001] The invention belongs to the technical field of multi-UUV formation coordination control, and in particular relates to a multi-UUV formation coordination control method under the condition of missing speed state. Background technique [0002] In a complex marine environment, it is difficult for a single UUV to complete complex tasks limited by its own energy and sensors, while UUV formations rely on greater platform load capacity, better execution efficiency, and better redundancy to play a role in ocean survey tasks. to an increasingly important role. The important condition for multi-UUV formation to perform underwater missions collaboratively is that each UUV member of the formation can independently realize formation formation and maintain a fixed formation during the mission process through the motion state information of itself and other members of the formation. Therefore, a stable coordinated control method is the basis of formation coordinati...

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Problems solved by technology

However, due to the interference of various factors such as ocean disturbances, sensor failures, and limited communication bandwidth, there may be a possibility of missing speed status.

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