Unmanned vehicle cluster optimal gathering controller and design method thereof

Abstract

The present invention discloses an unmanned vehicle cluster optimal gathering controller and a design method thereof. The controller comprises a communication network and a plurality of controller units, and the controller units are connected with the communication network; each controller unit comprises a distributed collaborative optimization module, a control module, an observer module and an unmanned vehicle. By adopting the distributed optimal collaborative control method, a local cost function is established for each unmanned vehicle to collaboratively search the optimal solution of a global cost function and take the optimal solution as a rally point of the unmanned vehicles. By adopting the method provided by the invention, it is convenient to obtain the optimal result, the control is simple, and it is beneficial to practical application. The controller is designed by adopting a back stepping method, a complex and high-order non-linear system is decomposed into sub-systems with the order numbers lower than an original system. The observer is combined to perform uncertainty disturbance estimation and control to effectively reduce the calculation load of the control algorithm and facilitate real-time calculation of the actual microprocessor system.

Description

technical field [0001] The invention relates to the field of unmanned boat motion control, in particular to an unmanned boat swarm optimal aggregation controller and a design method thereof. Background technique [0002] The 21st century is the century of the ocean, and the development of the ocean industry has become a broad consensus around the world. Human beings' understanding, development and protection of marine resources are of great significance to sustainable development. Intelligent unmanned boats are the development trend of ships. In view of the broad prospects of unmanned boats, all countries are committed to the research of unmanned boats, and they are currently in a stage of rapid development. With the rapid development of new concepts and technologies such as communication technology, big data, and artificial intelligence, the level of ship intelligence has also been continuously improved, and the development and application of intelligent unmanned boats has...

AI Technical Summary

Problems solved by technology

This method requires the control center node to have a large communication bandwidth, which is difficult to meet in actual situations such as large group size, complex tasks and environments.

[0007] Second, in the existing distributed collaborative control methods for unmanned boats, the non-optimized distributed cooperative control method is used. In this way, almost no optimization method is used for each unmanned boat in the network. In practical applications, the optimal results cannot be achieved

However, in practical applications, neural networks have disadvantages such as large computational burden and many adjustment parameters, so it is not conducive to engineering realization.

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