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Multi-unmanned ship formation control method based on finite time extended state observer

A technology with limited time and extended state, applied in the field of unmanned boat control, can solve the problems of large error, unsustainable observation, low stability, etc., and achieve the goal of improving integrity, ensuring stability and high efficiency, and increasing convergence rate Effect

Pending Publication Date: 2021-08-17
DALIAN MARITIME UNIVERSITY
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  • Claims
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Problems solved by technology

However, most of the current disturbance observers have large errors and low stability, and cannot continue to observe

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  • Multi-unmanned ship formation control method based on finite time extended state observer
  • Multi-unmanned ship formation control method based on finite time extended state observer
  • Multi-unmanned ship formation control method based on finite time extended state observer

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Embodiment Construction

[0107]In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0108] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circu...

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Abstract

The invention provides a multi-unmanned ship formation control method based on a finite time extended state observer. The method comprises the following steps: establishing kinematics and dynamics models of unmanned ships; dividing a formation system into a tracking control subsystem and a formation control subsystem, and designing a controller of the tracking control subsystem and a controller of the formation control subsystem respectively; and carrying out stability analysis on the designed controller of the tracking control subsystem and the controller of the formation control subsystem. The whole unmanned ship formation control system is divided into a navigation-expectation tracking control subsystem and a following-navigation formation control subsystem, the integrity of the formation control system is improved, and an efficient identification disturbance observer is designed. The complex external disturbance existing in the unmanned ship formation control system can be continuously, efficiently and accurately approached and identified. According to the technical scheme, the influence of internal and external disturbances on the formation control system is effectively processed, and the stability and high efficiency of the unmanned ship formation control system are ensured.

Description

technical field [0001] The present invention relates to the technical field of unmanned boat control, in particular, to a multi-unmanned boat formation control method based on a finite time expansion state observer. Background technique [0002] The ocean contains extremely rich mineral resources, biological resources, renewable energy, etc. It is a mysterious territory that must be deeply embraced and scientifically integrated in the evolution of human civilization. Unmanned surface vehicle (Unmanned Surface Vehicle, USV) is a kind of marine drone capable of carrying out various military and civilian complex tasks such as intelligence collection, port protection, marine survey, environmental measurement, scientific research and exploration, etc. by carrying relevant military and civilian module loads. People-carrying platforms are increasingly attracting widespread attention from governments, scientific research institutes and related units. However, due to the diversity o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 余明裕李仲昆王泊桦陈栋
Owner DALIAN MARITIME UNIVERSITY
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