Unmanned ship navigation following fixed time formation control method

Abstract

The invention discloses an unmanned ship navigation-following fixed time formation control method. The method belongs to the field of unmanned ship control, and comprises the following steps: establishing dynamics and kinematics models of a navigation unmanned ship and a following unmanned ship, designing a fixed time control law of a navigation unmanned ship subsystem so as to realize navigationunmanned ship trajectory control, and providing a control input signal for the following unmanned ship subsystem; designing a finite time disturbance observer to realize effective observation of environmental disturbance of the following unmanned ship; establishing integral sliding mode surface, determining a following error between the following unmanned ship and the navigation unmanned ship; designing a fixed time formation control scheme based on a finite time disturbance observer under complex disturbance. A fixed time tracking control strategy based on a sliding mode technology is appliedto the navigation unmanned ship subsystem, the navigation unmanned ship is driven to accurately track an expected trajectory, the tracking precision of the system is effectively improved, a stable navigation-following unmanned ship formation pattern can still be realized in the presence of external disturbance, and the robustness of the formation system is remarkably improved.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to a pilot-following fixed-time formation control method for an unmanned ship. Background technique [0002] In recent years, with the emphasis on marine science and technology in various countries, surface ships are developing towards intelligence and unmanned, and surface unmanned ships are playing an increasingly important role in scientific research, water monitoring, marine environment exploration, military and other civilian fields. role. However, the environment in ocean waters is complex and changeable, and there are many unknown disturbances. In the face of multi-task operations, a single unmanned ship cannot achieve the goal well. Strong and other characteristics, has become a research hotspot in various research institutions. In the field of cooperative control of multiple unmanned ships, formation control is the most important. At present, there are five common str...

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Problems solved by technology

However, the asymptotic convergence algorithm has its own shortcomings, that is, the convergence time is unpredictable, which also leads to the unpredictable stability of the system

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