A multi-uuv formation coordination control method under the condition of lack of speed state

Abstract

The invention discloses a multi-UUV formation coordination control method under the condition of lack of speed state, including: performing formation initialization; performing feedback linearization conversion to obtain a linear motion state vector in a feedback linearization coordinate system; Design the formation coordination controller; based on the feedback linearization inverse operation, convert the control input into the coordination control input in the geodetic coordinate system; solve the coordination control input to obtain the control command of the UUV actuator; determine the complete motion at the current moment Status information; data transmission and sharing according to the formation coordination relationship and communication topology relationship; judging whether the UUV formation has completed the formation task. The invention effectively improves the autonomy and stability of the UUV formation under the condition of lack of speed state and external disturbance, optimizes the control algorithm of the formation, expands the applicable scope of the UUV formation control method, and improves the anti-disturbance of the formation in the task process sex.

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...

AI Technical Summary

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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