Active compensation method for auv communication delay based on data-driven state predictor

Abstract

The invention discloses a multi-AUV communication delay active compensation method based on a data-driven predictor, comprising the following steps: establishing an autoregressive model; determining the undetermined order of the autoregressive model; designing an online update law of a parameter vector; The data-driven state predictor of j AUVs; realizes active compensation of communication delay. The present invention estimates the current actual motion state of the neighboring AUVs online in real time by designing a state predictor, and applies the estimated value to the design of the formation control law, so as to realize the active compensation of the AUV communication delay. The active compensation method for multi-AUV communication delay proposed by the present invention has no restriction on the design method of the AUV formation control law, and can flexibly apply various advanced formation control theoretical methods. The active compensation method for multi-AUV communication delay proposed by the present invention is data-driven and does not depend on the AUV motion mathematical model, therefore, no prior knowledge of the parameters and structure of the AUV motion mathematical model is required.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to a multi-autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) communication delay active compensation method based on a data-driven state predictor. Background technique [0002] AUVs play an important role in civil and military fields such as marine resource development and utilization, submarine topographic mapping, offshore defense and military reconnaissance. For some complex marine operations, such as large-scale seabed landform survey and underwater multi-target strike, it is difficult for a single AUV to meet the operational requirements due to the limitations of the load, range, and speed that can be carried. Therefore, multiple AUVs are used to carry different equipment and establish The formation motion control mechanism enables multiple AUVs to cooperate and complete tasks more efficiently and with high quality. The information interaction of AUVs is the ...

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Problems solved by technology

However, in the above literature, the AUV formation control law designed only provides sufficient conditions for realizing AUV formation under communication delay through theoretical analysis, and all use the AUV delay motion state information without dealing with communication delay The problem is only to adapt to the situation where there is a communication delay; in addition, due to the application of the consensus algorithm, the structure of the AUV formation control law is fixed, and it cannot be further combined with other advanced control theory methods to improve the control effect

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