A design method for finite time convergence unmanned ship collaborative controller

Abstract

The invention discloses a design method for a limited time convergence unmanned ship collaborative controller. The structure of the limited time convergence unmanned ship collaborative controller includes a finite time expansion state observer, a limited time distributed path control guidance module, a non-linear Linear tracking differentiator, anti-interference dynamics control module and underactuated unmanned ship. By introducing the artificial potential energy function into the design of the distributed path control controller, the present invention designs a distributed collaborative path control controller with collision avoidance, obstacle avoidance and connectivity maintenance, thereby better adapting to the complex and changeable conditions in practice. ocean situation. This invention is only based on position and yaw angle information, and can achieve unified estimation of the uncertainty of the under-actuated unmanned ship model and the unknown disturbance caused by complex sea conditions. At the same time, the limited time convergence characteristics can enable the collaborative controller to obtain better observation effects and anti-interference capabilities, expanding the application scope of existing distributed collaborative path control controllers.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to a design method for a limited-time convergent unmanned ship cooperative controller. Background technique [0002] The ocean accounts for 71% of the earth's surface area. Because it contains extremely rich energy and has important strategic significance, it has become the focus of the game between major countries, and all countries are committed to the research of marine equipment. Among them, unmanned ships have been widely used in military and civilian fields such as amphibious landing operations, sea, land and air coordination, maritime cruise supervision, and ocean data measurement, and have achieved great success, becoming an important research direction. The operating capability of a single unmanned ship has limitations, so it is possible to consider the collaborative operation of an intelligent unmanned ship formation to improve work capacity and work efficiency. Espec...

AI Technical Summary

Problems solved by technology

In addition, the communication range of an unmanned ship may be limited by the communication equipment. When the ship is not within the effective communication range, multiple unmanned ships will not be able to complete the established cooperative path manipulation tasks.

[0005] Second, in the existing unmanned ship cooperative path control methods, most of them do not consider the expected effect within a limited time

[0006] Third, in the existing cooperative path control methods for unmanned ships, it is necessary to pre-specify a parameterized path for each unmanned ship, which will lead to increased network bandwidth requirements and increased path planning costs

Although a few studies have proposed distributed path manipulation methods, they are only applicable to fully-actuated unmanned ships and cannot be applied to under-actuated unmanned ships.

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