Cooperative learning and formation control method for isomorphic multi-unmanned surface vehicle system

Abstract

The invention discloses a cooperative learning and formation control method for an isomorphic multi-unmanned surface vehicle system. The cooperative learning and formation control method proposes a distributed cooperative learning control method based on a communication connection topological graph for a plurality of all-drive unmanned surface vehicle systems having identical structures, and solves the problem of collision and connection maintenance between the isomorphic unmanned surface vehicles maintaining communication. The cooperative learning and formation control method comprises the steps of: establishing a dynamic model of unmanned surface vehicles; designing an error based on a graph theory between the unmanned surface vehicles maintaining communication; designing an error conversion function satisfying preset performance; designing a virtual controller based on a dynamic surface control technology; designing a weight update rate of a radial basis function (RBF) neural network; and designing a formation controller and an experience-based controller. The cooperative learning and formation control method satisfying connection maintenance can ensure that two unmanned surface vehicles always keep a safe distance and are within a communication connection range at any time thereafter if the two unmanned surface vehicles maintain communication at an initial moment.

Description

technical field [0001] The invention relates to the field of formation control of unmanned boats, in particular to a collaborative learning and formation control method of a homogeneous multi-unmanned boat system. Background technique [0002] With the development of science and technology and the needs of society, maritime missions require multiple unmanned boats to work at the same time, and multiple navigation supply unmanned boats are also required to provide different services. Therefore, multi-boat cooperation and control technology has been developed rapidly. At present, the application of multi-vessel cooperation and control technology has involved many fields such as submarine uranium, sea refueling, sea fishing, and military sea exercises. Multi-boat cooperative control technology can not only complete complex tasks in complex environments, but also free people from some dangerous work. Moreover, multi-boat cooperation and control technology has the characteristic...

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Problems solved by technology

[0006] (3) The sensing rang

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