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Finite time fault-tolerant control method for distributed unmanned ship formation

A time-limited, fault-tolerant control technology, applied in the field of unmanned boat formation control, to achieve the effect of improving control accuracy and convergence speed, avoiding single point of failure, and accelerating speed

Pending Publication Date: 2021-12-03
HARBIN ENG UNIV
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  • Abstract
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Problems solved by technology

On the other hand, due to the load change of the UAV and the unknown model parameters, the traditional PID control no longer has good robustness to disturbances

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  • Finite time fault-tolerant control method for distributed unmanned ship formation
  • Finite time fault-tolerant control method for distributed unmanned ship formation
  • Finite time fault-tolerant control method for distributed unmanned ship formation

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Embodiment Construction

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0063] A finite-time fault-tolerant control method for a distributed unmanned boat formation, the finite-time fault-tolerant control method includes the following steps:

[0064] Step 1: Establish a dynamic model of the UAV formation based on external disturbances and actuator failures, and determine the control objectives;

[0065] Step 2: Based on the dynamic model of the UAV formation in step 1, establish a virtual speed control command of the f...

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Abstract

The invention discloses a finite time fault-tolerant control method for a distributed unmanned ship formation. The method comprises the following steps: step 1, establishing an unmanned ship formation dynamics model based on external interference and actuator faults, and determining a control target; step 2, based on the unmanned ship formation dynamics model in the step 1, establishing a filtering compensation mechanism virtual speed control instruction; step 3, based on the virtual speed control instruction in the step 2, establishing a finite time fault-tolerant controller; and step 4, based on the finite time fault-tolerant controller in the step 3, verifying the stability and robustness of closed-loop control of the unmanned ship formation system. The invention aims to realize the cooperative control of the unmanned ship formation.

Description

technical field [0001] The invention belongs to the field of unmanned boat formation control; in particular, it relates to a limited-time fault-tolerant control method of a distributed unmanned boat formation. Background technique [0002] In recent years, with the continuous development of navigation technology, unmanned boat formation control technology has become a hot topic in the marine industry, and is considered to be one of the most promising technologies due to its low cost, high adaptability and high flexibility. . Compared with a single boat, the formation system has outstanding advantages in ocean monitoring, resource detection, and seabed geological sampling. Therefore, it is undoubtedly of great practical significance to study the cooperative control of unmanned boat formations. [0003] However, the increasing complexity of marine missions makes the design of cooperative controllers a daunting task. Since the success of modern ocean missions largely depends ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T90/00
Inventor 张磊黄子玚黄兵朱骋周彬庄佳园刘涛沈海龙苏玉民
Owner HARBIN ENG UNIV
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