Networked surface ship tracking control method, device and equipment and storage medium

A technology of tracking control and control algorithm, applied in the direction of control/adjustment system, height or depth control, non-electric variable control, etc., can solve the problems of low efficiency, limited freedom of surface vehicles and limited working space, and achieve strong practicability Effect

Active Publication Date: 2021-09-07
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology

[0004] In order to solve the technical problems of a single surface vehicle degree of freedom and limited working space, and the robustness, flexibility, and efficiency of centralized control are low, the present invention provides a networked surface ship tracking control method based on hierarchical control Algorithm implementation, so that it is easy for users to define independently, and it can stabilize complex systems

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  • Networked surface ship tracking control method, device and equipment and storage medium
  • Networked surface ship tracking control method, device and equipment and storage medium
  • Networked surface ship tracking control method, device and equipment and storage medium

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Embodiment Construction

[0057] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0058] refer to figure 1 , figure 1 The flow chart of the surface ship networked surface ship tracking control method provided by the embodiment of the present invention;

[0059] S1. Carry out dynamics and kinematics modeling on N surface ships to obtain dynamics and kinematics models, and set a virtual leader from the N surface ships, and set the rest as followers;

[0060] The expression of described dynamics and kinematics model is:

[0061]

[0062] Among them, i∈{1,2,...,N} represents the serial number of the surface ship, Indicates the fixed-point position on the earth (X i ,Y i ) coordinates, (Ψ i ) is the heading angle, represents the set of real numbers, Represents n-dimensional Euclidean space; ...

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Abstract

The invention provides a networked surface ship tracking control method, device and equipment and a storage medium, and the method comprises the steps: carrying out the modeling of a surface ship, obtaining a dynamics and kinematics model, setting a virtual leader, and setting the rest as followers; establishing a directed topological graph among the surface ships; according to the dynamics and kinematics model and the directed topological graph, designing a sliding mode surface and control algorithms under the hierarchical control framework, including a control algorithm of a distributed estimation layer and a control algorithm of a local control layer; estimating the state of a virtual leader according to a control algorithm of a distributed estimation layer, wherein followers reach a formation pattern in the layer, and formation control is achieved; and driving each surface ship to track the virtual leader within predefined time according to a control algorithm of the local control layer. A hierarchical control algorithm is adopted to realize formation tracking control of surface ships, the system state can be converged to an original point on a new sliding mode surface, and the method can be applied to different complex systems.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method, device, equipment and storage medium for tracking and controlling networked surface warships. Background technique [0002] In the 1980s, the United States first proposed the concept of maritime unmanned system clusters. Maritime unmanned system cluster refers to the organic integration of marine surface unmanned aerial vehicle clusters and underwater unmanned robot clusters through intelligent command, collaborative control, and information interaction. In recent years, the trajectory tracking control of unmanned aerial vehicles on the ocean surface has received more and more attention, because it not only conforms to the development trend of the intelligent era, but also meets the requirements that manned surface vehicles cannot meet. [0003] The application of unmanned aerial vehicles on the ocean surface mainly focuses on dangerous missions or areas that are not suita...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 张秋月许坤婷葛明峰丁腾飞梁昌铎黄凯伦董玖旺苏鹏
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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