Unmanned surface vehicle distributed formation control method under collision avoidance and connection retention constraint

Abstract

The invention discloses an unmanned surface vehicle distributed formation control method under collision avoidance and connection retention constraint. The method comprises the following steps: building a kinematic and dynamic model of an unmanned surface vehicle; describing information interaction among individuals in an unmanned surface vehicle formation system through an unoriented topologicalgraph; building a distance error equation, a relative course angle error equation and an azimuth angle error equation of neighboring unmanned surface vehicles on the k side, and describing the collision avoidance and connection retention constraint into a constraint problem of formation error; using a logarithmic barrier lyapunov function to guarantee that the formation error satisfies a constraint condition of preset transient state performance, and by a backstepping design method, performing design of a virtual controller for a relative course angle error system, a distance error system andan azimuth angle error system; by a dynamic surface control technology, avoiding a problem of repeated derivation to the virtual controller and solving a problem of failure in measurement of acceleration in design of a formation controller; and designing the distributed formation controller based on a disturbance observer.

Description

technical field [0001] The invention relates to the field of formation control of unmanned boats, in particular to a distributed formation control method of unmanned boats under the constraints of collision avoidance and connection maintenance. Background technique [0002] Formation motion control is a typical problem of multi-unmanned vehicle cooperative system, and it is one of the key technologies to realize cooperative operation of unmanned vehicles. Unmanned boats with a certain formation structure are more efficient than a single unmanned boat when completing certain complex and dangerous operations, such as water area survey, target search, chart drawing, resource survey, etc. [0003] Compared with the trajectory tracking control of a single unmanned vehicle, one of the difficulties in the formation motion control problem is that the reference trajectory (usually generated by the virtual leader) cannot be obtained by all followers. Therefore, the followers in the f...

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Problems solved by technology

[0006] In addition, the derivatives of the virtual controller often contain variables that are difficult to handle and cannot be measured, and external unknown time-varying disturbances will also affect system performance. These problems have brought great challenges to the distributed formation control of unmanned vehicles.

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