Cluster unmanned ship fault-tolerant cooperative control method based on anti-attack strategy

A collaborative control, unmanned boat technology, applied in the field of control science and engineering, can solve problems such as ignoring slow-changing faults and the impact of network attacks, single constraints, etc., to offset the sudden change of thrusters and slow-changing composite faults, and achieve pilot-following. performance effect

Active Publication Date: 2022-02-11
SHANGHAI UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to provide a fault-tolerant cooperative control method for swarm unmanned boats based on an anti-attack strategy, so as to solve the problem of cooperative control of swarm unmanned boats. Solve a single-constraint problem, and solve independent fault estimation and independent fault-tolerant control problems

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  • Cluster unmanned ship fault-tolerant cooperative control method based on anti-attack strategy
  • Cluster unmanned ship fault-tolerant cooperative control method based on anti-attack strategy
  • Cluster unmanned ship fault-tolerant cooperative control method based on anti-attack strategy

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[0090] The present invention will be further described below in conjunction with specific embodiments with reference to the accompanying drawings.

[0091] It should be noted that components in the various figures may be shown exaggerated for the purpose of illustration and are not necessarily true to scale. In the various figures, identical or functionally identical components are assigned the same reference symbols.

[0092] In the present invention, unless otherwise specified, "arranged on", "arranged on" and "arranged on" do not exclude the presence of intermediates between the two. In addition, "arranged on or above" only means the relative positional relationship between two parts, and under certain circumstances, such as after the product direction is reversed, it can also be converted to "arranged under or below", and vice versa Of course.

[0093] In the present invention, each embodiment is only intended to illustrate the solutions of the present invention, and sho...

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Abstract

The invention provides a cluster unmanned ship fault-tolerant cooperative control method based on an anti-attack strategy, and the method comprises the steps: carrying out the exponential modeling of sudden change and slow change composite faults of an unmanned ship propeller, and obtaining a physical composite fault model; performing hybrid modeling based on connectivity maintenance and connectivity paralysis of the unmanned ship network attack to obtain a network attack model; establishing a unified model according to a wave disturbance model, a network attack model and a physical composite fault model of the unmanned ship in a real ocean scene; and carrying out integrated distributed fault estimation and distributed fault-tolerant cooperative control of the cluster unmanned surface vehicle.

Description

technical field [0001] The present invention generally relates to the field of control science and engineering, and is subdivided into the technical fields of cooperative control and safety fault-tolerant control of intelligent unmanned systems, and more specifically relates to a method for fault-tolerant cooperative control of cluster unmanned boats based on an anti-attack strategy . Background technique [0002] A swarm of unmanned ships refers to a group of multiple unmanned ships in formation. In recent years, the application of clustered unmanned ships has been increasing. At present, clustered unmanned ships have been used in military fields such as rounding up, driving away, mine clearance, and anti-submarine, as well as in military fields such as material supply, topographic mapping, sea surface rescue, and unmanned search. important role in the civil sphere. [0003] In the case of a malicious attack on the network layer or a failure of the physical layer that cau...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T90/00
Inventor 柳春汪小帆任肖强蒲华燕金天梦夏志伟史悦
Owner SHANGHAI UNIV
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