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A Design Method for Output Feedback Formation Control of Unmanned Submarine with Preset Performance

A design method and output feedback technology, applied in the field of formation control of surface unmanned boats, can solve problems such as collisions and large formation error overshoots

Active Publication Date: 2020-09-22
SOUTH CHINA UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In practical applications, transient performance is also a problem that needs to be considered, because if the formation error converges too slowly, it will take longer for each surface unmanned vehicle to reach its desired position, and if the overshoot of the formation error is too large, then May cause each USV to collide with its leader during motion

Method used

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  • A Design Method for Output Feedback Formation Control of Unmanned Submarine with Preset Performance
  • A Design Method for Output Feedback Formation Control of Unmanned Submarine with Preset Performance
  • A Design Method for Output Feedback Formation Control of Unmanned Submarine with Preset Performance

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Experimental program
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Embodiment

[0087] The leader-follower of the surface unmanned boat with preset performance outputs feedback formation control. There are a total of 5 surface unmanned boats in the formation. figure 1 Schematic diagram of the leader-follower formation of surface unmanned boats.

[0088] Such as figure 2 Shown is the overall control block diagram of the leader-follower output feedback formation control method with preset performance. The detailed implementation process of the control method includes the following steps:

[0089] Step (1): Establish a dynamic model of the surface unmanned boat in the leader-follower formation structure;

[0090] Establish the system model of the i-th (i=1, 2, 3, 4) mobile robot in the leader-follower formation structure, and its vector form is:

[0091]

[0092] Where η i =[x i ,y i ,ψ i ] T Is the position and heading angle of the i-th surface unmanned craft relative to the geodetic coordinates, where x i Is the x-axis coordinate of the i-th surface unmanned boat...

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Abstract

The invention discloses an unmanned boat output feedback formation control design method with preset performance. The method comprises a step of constructing a dynamic model of water surface unmannedboats, a step of defining a distance variable between an i-th water surface unmanned boat and its leader, a step of designing a performance function of a distance error and an azimuth error of a watersurface unmanned boat formation and ensuring that the distance error and the azimuth error meet a constraint condition of transient performance by using a tan-type obstacle Lyapunov function, a stepof designing a speed estimator of the i-th water surface unmanned boat, a step of designing a virtual controller for a distance error system and an azimuth error system of the i-th water surface unmanned boat by using an inverse step design method, and a step of avoiding the derivation of the virtual controller by using a dynamic surface technique in the controller design. According to the method,the collision between the water surface unmanned boat and its leader can be avoided, a formation error satisfies the preset transient performance, and the control effect is good.

Description

Technical field [0001] The invention relates to the field of formation control of surface unmanned boats, in particular to an output feedback formation control design method for unmanned boats with preset performance. Background technique [0002] In recent years, the formation control of surface unmanned boats has increasingly become a research hotspot. A group of surface unmanned boats with a certain formation structure are more efficient than a single surface unmanned boat when completing certain complex and dangerous operations, such as targets. Search, environmental protection, resource measurement, etc. Among the many formation structures, the leader-follower formation structure has received more attention because of its simple structure and easy expansion. At present, there have been certain research results on this formation structure. In the leader-follower formation structure based on output feedback, each surface unmanned boat is designed with its own speed estimator....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 戴诗陆叶青照王敏董超
Owner SOUTH CHINA UNIV OF TECH
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