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Formation consistency control method for multiple AUVs under directed switching topology

A control method and consistent technology, applied in the direction of non-electric variable control, height or depth control, control/regulation system, etc., can solve the problems of poor robustness and stability, and achieve good stability, robustness, and speed The effect of fast and improved convergence speed

Active Publication Date: 2021-09-24
HARBIN ENG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of poor robustness and stability of the existing control method when randomly switching topology and formation transformation, and propose a A Consistency Control Method for Multi-AUV Formation in Directed Switching Topology

Method used

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  • Formation consistency control method for multiple AUVs under directed switching topology
  • Formation consistency control method for multiple AUVs under directed switching topology
  • Formation consistency control method for multiple AUVs under directed switching topology

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specific Embodiment approach 1

[0031] The specific embodiment one, the multi-AUV formation consistency control method under the directed switching topology described in the present embodiment, the method specifically includes the following steps:

[0032] Step 1. Define a directed graph for describing the communication topology relationship between multiple AUVs;

[0033] Step 2. Based on the feedback linearization method, the kinematic equation and dynamic equation of the AUV are linearized into a feedback linearization dynamic model in the form of a second-order integral;

[0034] Step 3, using the communication topology relationship between AUVs represented by the directed graph and the feedback linearization dynamic model of the second-order integral form, design a multi-AUV formation consistency controller under the directed switching topology;

[0035] Step 4. Based on the controller in step 3, the closed-loop control form of each AUV is obtained.

specific Embodiment approach 2

[0036] Specific implementation mode two, the difference between this implementation mode and specific implementation mode one is: the specific process of said step one is:

[0037] Take each AUV as a vertex of a directed graph, and the directed graph is marked as G=(V,ε,C), where V represents the set of all vertices, and V={v 1 ,v 2 ,...,v n}, n is the number of AUVs in the formation, (v i ,v j )∈ε, ε represents the set of edges between vertices, that is, the set of communication chains of each AUV member, (v i ,v j ) represented by the vertex v i and v j The directed edge formed by the vertex v j Receive vertex v i information, v i is called the parent vertex of the edge, v j Called the sub-vertex of the edge, C is the adjacency matrix;

[0038] The adjacency matrix C satisfies: for If i=j, then c ij =0, if i≠j and there is a directed edge in the set ε (v i ,v j ), then c ij = 1, otherwise c ij =0.

[0039] The in-degree matrix of the directed graph D=dia...

specific Embodiment approach 3

[0041] Specific embodiment 3. The difference between this embodiment and one of specific embodiments 1 or 2 is that the kinematic equation of the AUV is:

[0042]

[0043] In the formula, is the first derivative of η, Indicates the position state and the Euler angle state, ξ 0 is the north coordinate of AUV, η 0 is the east coordinate of AUV, ζ 0 is the longitudinal coordinate of AUV, θ is the pitch angle of AUV, ψ is the heading angle of AUV, represents the field of real numbers, Indicates the state of velocity, u 0 is the northward velocity of the AUV, v 0 is the eastward velocity of the AUV, w 0 is the longitudinal velocity of the AUV, q is the pitch angular velocity of the AUV, r is the heading angular velocity of the AUV, and J(η) is the Jacobian matrix of the AUV from the moving coordinate system to the fixed coordinate system.

[0044] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention discloses a formation consistency control method for multiple AUVs under directed switching topology, and belongs to the technical field of coordination control of multiple autonomous underwater vehicles. The problem that an existing control method is poor in robustness and stability during random topology switching and formation transformation is solved. Under the conditions of directed switching topology and formation transformation, an AUV kinematics model and a dynamical model are converted into a second-order integrator form through a feedback linearization method, and relative position information and a speed damper between underwater vehicles are added into a control algorithm to form a formation control law. The multi-AUV formation convergence speed is improved, the speed of forming a stable formation is higher, the controller can keep good stability and robustness under the condition of topology switching and formation transformation, and the multi-AUV system can converge to an expected position. The method can be applied to the coordinated control of multiple autonomous underwater vehicles.

Description

technical field [0001] The invention belongs to the technical field of coordinated control of multiple autonomous underwater vehicles, and in particular relates to a formation consistency control method for multiple AUVs (Autonomous Underwater Vehicle, autonomous underwater vehicles) under a directional switching topology. Background technique [0002] Autonomous underwater vehicles use various sensor modules and other mission modules on board to play an important role in military and civilian fields such as underwater resource surveying, underwater mine clearance, and intelligence collection. As the difficulty of performing marine missions increases, the environment in which the mission is performed becomes more complex, and a single underwater vehicle embodies inevitable limitations such as low mission efficiency, small working range, and poor system redundancy. In order to solve the above problems, multi-vehicle cooperative task execution has become an inevitable directio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 张勋周立广邢文郑岩吴迪张宏瀚徐健陈涛
Owner HARBIN ENG UNIV
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