Aperiodic communication underwater glider cooperative controller structure and design method thereof

Abstract

The invention discloses an underwater glider cooperative controller structure and a design method thereof. The structure comprises a communication network and a plurality of controller units, and the communication network is respectively connected with the plurality of controller units after passing through an aperiodic communication mechanism. The aperiodic communication mode is designed by constructing the preset trigger event function based on the path parameters and the neighbor path parameters of the underwater glider, information interaction between the underwater gliders is carried out only when the preset trigger condition is met, the communication burden can be remarkably relieved, energy consumption is reduced, and the actual requirement for long-time marine observation is met. Aiming at an underwater glider cluster system under incomplete state information, uncertain model parameters and complex marine environment disturbance, the dependence of controller design on multiple sensors can be effectively reduced under the condition that underwater gliders are equipped with a small number of sensors and the precision is low, cooperative tracking under a planned path is realized, and the actual requirements of ocean observation are met.

Description

technical field [0001] The invention relates to the field of underwater glider control, in particular to a non-periodic communication underwater glider cooperative controller structure and design method. Background technique [0002] The ocean accounts for 71% of the earth's surface area, surrounds all the land on the earth, and occupies part of the four strategic spaces of "air, sky, land, and sea" for human development. It contains rich mineral resources and biological resources. The extremely rich polymetallic nodules are deposited, which makes the development of related fields such as underwater robots a necessary trend. As a new type of autonomous ocean observation platform, underwater glider relies on buoyancy change and attitude adjustment to achieve gliding motion. It has the advantages of low energy consumption, strong endurance, extremely low noise, and is suitable for repeated use and mass delivery. Since the observation or detection function of a single underwat...

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Problems solved by technology

[0004] First, the underwater glider has problems such as speed, external disturbance unknown and model uncertainty, which makes it impossible to control the underwater glider in practical applications;

[0005] Second, the existing underwater glider control includes an observer-based output feedback control method, but the fuzzy observer estimation will also bring high-frequency oscillations, which will affect the control accuracy;

[0006] Third, the existing cooperative path tracking control methods for underwater gliders require continuous or periodic communication between underwater gliders, which is difficult to achieve in the actual network environment

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