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

A tracking control and control algorithm technology, applied in the fields of equipment and storage media, devices, and networked surface ship tracking control methods, can solve problems such as low efficiency, limited degree of freedom of surface vehicles and limited working space, and achieve a highly practical Effect

Active Publication Date: 2022-07-19
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

Method used

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

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Embodiment Construction

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

[0058] refer to figure 1 , figure 1 A flow chart of a method for tracking and controlling a networked surface ship of a surface ship provided by an embodiment of the present invention;

[0059] S1. Perform dynamic and kinematic modeling on N surface ships to obtain a dynamic and kinematic model, and set a virtual leader from the N surface ships, and set the rest as followers;

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

[0061]

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

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Abstract

The invention provides a networked surface ship tracking control method, device, equipment and storage medium. The method includes: modeling the surface ship, obtaining a dynamic and kinematic model, setting a virtual leader, and setting the rest It is a follower; establish a directed topology map between surface ships; according to the dynamic and kinematic model and directed topology map, design the sliding mode surface and control algorithm under the hierarchical control framework, including: distributed estimation layer The control algorithm and the control algorithm of the local control layer; the state of the virtual leader is estimated according to the control algorithm of the distributed estimation layer, and the followers reach the formation formation at this layer to realize formation control; each water surface is driven according to the control algorithm of the local control layer The ship is tracked to the virtual leader for a predefined time. The layered control algorithm is used to realize the formation tracking control of surface ships, and the system state can converge to the origin on the new sliding surface, and can be applied to different complex systems.

Description

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

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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