Under-actuated unmanned ship cluster cooperative guidance structure and design method

Abstract

The invention discloses an under-actuated unmanned ship cluster cooperative guidance structure and a design method. The structure comprises a cooperative error calculation module, a path parameter update module, a speed feedforward module, a controller and a speed conversion module. The structure has a high application value in practical application for the control method of a under-actuated unmanned ship. The structure uses a parameterized path which is updated synchronously according to a tracking error, can realize the synchronous update of multiple paths and the adjustment of a reference path point in a control process, and avoids the problem that the under-actuated unmanned ship cannot catch up with a target trajectory. The structure considers the influence of the lateral drift speedof the under-actuated unmanned ship on the coordinated control, and can solves the problem that the under-actuated unmanned ship has an increased tracking error or frequently deviates from the trajectory due to the lateral drift speed. The method belongs to a distributed control method and is more advantageous than centralized control in a cooperative control application of a large-scale under-actuated unmanned ship.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to an underactuated unmanned ship cluster cooperative guidance structure and design method. Background technique [0002] In today's era, marine resources are getting more and more attention from all countries. Because of its miniaturization, light weight, and intelligence, unmanned ships are an important tool for people to explore, develop, and utilize the ocean. In many cases, a single unmanned ship has limited capabilities and is difficult to complete some tasks, and the cooperation of multiple unmanned ships can overcome this shortcoming. As a form of multi-unmanned ship coordination, multi-unmanned ship includes manipulation control means that there are multiple leaders among multi-unmanned ships to track multiple parameterized trajectories. Relationships are arranged among the leaders, forming a kind of formation and moving forward as a whole. This multi-unmanned ship c...

AI Technical Summary

Problems solved by technology

From the perspective of controller design, the existing multi-unmanned ship cooperative formation control methods still have the following deficiencies: First, most of the existing multi-unmanned ship containment control research is limited to the research on fully-driven ships. However, in practical applications, the vast majority of ships cannot obtain lateral thrust, which is an underactuated system

Second, most of the existing multi-unmanned ship containment control studies use a given fixed reference trajectory, but in practical applications, there may be some factors that cause the unmanned ship to deviate from the given trajectory, making it impossible to keep up with given trajectory

Third, many existing cooperative control studies on unmanned ships have not considered the influence of the lateral drift speed. cause some impact

Fourth, most of the existing coordinated formation control methods for unmanned ships require all individuals to obtain path parameter information, which belongs to centralized control, and centralized control requires a control center node with a large communication bandwidth, so it is not necessary to Conducive to the application in the cooperative control of large-scale unmanned ships

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