Multi-unmanned ship formation fixed time control method based on finite time uncertainty observer

Abstract

The invention provides a multi-unmanned ship formation fixed time control method based on a finite time uncertainty observer. The method comprises the steps of constructing a navigation ship mathematical model, a following ship mathematical model and a formation model in an unmanned ship formation system based on unknown disturbance and unmodeled dynamics; regarding an external unknown disturbanceitem and an unknown hydrodynamic coefficient item as lumped uncertainty items, designing a finite time uncertainty observer, and accurately and rapidly observing and compensating the unmanned ship formation system containing the lumped uncertainty items; fusing a fixed time control idea into a non-singular terminal sliding mode technology, and designing a non-singular terminal sliding mode with acompletely fixed time stability characteristic; and designing a fixed time unmanned ship formation control strategy based on the finite time uncertainty observer and the nonsingular terminal slidingmode. According to the technical scheme, the convergence speed and convergence precision of a formation tracking control system are ensured, and the problems of singularity and low convergence speed in a traditional sliding mode strategy are solved.

Description

technical field [0001] The present invention relates to the technical field of cooperative control of multi-unmanned ship formations, in particular, to a fixed-time control method for multi-unmanned ship formations based on a finite-time uncertain observer. Background technique [0002] In recent years, Unmanned Surface Vehicle (USV) has played an increasingly important role in the military and civilian fields. It can perform tasks such as intelligence reconnaissance, water environment detection, and chart drawing. However, when faced with complex water environment and diverse operational tasks, a single USV appears to be weak, and multi-USV collaborative control has gradually become a research hotspot due to its advantages of high efficiency, wide coverage, and strong robustness. In the field of multi-USV cooperative control, one of the research hotspots is formation control. The main strategies include: graph theory, behavior-based control strategy, virtual leader, neural ...

AI Technical Summary

Problems solved by technology

[0005] According to the above proposal, aiming at the tracking control problem of the leader-follower unmanned ship formation system in a complex environment, a fixed-time control method for multi-unmanned ship formation based on a finite time uncertain observer is provided

This strategy ensures the convergence speed and convergence accuracy of the formation tracking control system, and overcomes the problems of singularity and slow convergence in the traditional sliding mode strategy

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