Unmanned ship/aircraft robust adaptive neural cooperative control method based on event triggering

Abstract

The invention discloses an unmanned ship / unmanned aerial vehicle robust adaptive neural cooperative control method based on event triggering. The method comprises the following steps: establishing a nonlinear system model of an unmanned ship-unmanned aerial vehicle cooperative system; designing a position controller and a position adaptive law of the unmanned ship-unmanned aerial vehicle cooperative system; acquiring an attitude reference signal of the unmanned ship-unmanned aerial vehicle cooperative system; designing an attitude controller and an attitude adaptive law of the unmanned ship-unmanned aerial vehicle cooperative system; and deriving the rotor angular velocity of the unmanned aerial vehicle. The invention provides a USV-UAV robust adaptive neural cooperative control algorithm based on actual input triggering under an LVS-LVA guidance framework, and the rotating speed of a main engine propeller of an unmanned ship, the rudder angle of the unmanned ship and the angular speed of a rotor serve as actual control input to execute a USV-UAV cooperative path tracking task. And an event triggering mechanism is adopted, so that occupation of actual control input of the unmanned ship-unmanned aerial vehicle on a communication channel is reduced.

Description

technical field [0001] The invention relates to the application fields of ship control engineering and unmanned aerial vehicle navigation equipment, in particular to an event-triggered robust adaptive neural cooperative control method for unmanned ships / machines. Background technique [0002] In the field of control engineering, the path tracking control system is composed of three subsystems: guidance system, control system and navigation system. The guidance system can automatically construct the heading reference signal according to the positional relationship between the ship's current attitude and the expected path; the control system can achieve effective convergence by eliminating the error between the current attitude and the heading reference signal; the navigation system can control the The position and attitude information of the object is transmitted to the guidance system and control system through sensors. [0003] Nonlinear feedback technology has a wide rang...

AI Technical Summary

Problems solved by technology

In addition, due to the difference in the dynamic model of the unmanned ship and UAV, the control input of the cooperative controller of the unmanned ship and UAV is in the form of force and force rectangle, which is different from the control input of the propeller speed of the main engine of the unmanned ship and the rudder of the unmanned ship. Angle and rotor angular velocity do not match engineering practice

Moreover, the unmanned ship-UAV cooperative control system adopts the form of continuous event triggering, which is easy to cause additional communication resource occupation and actuator wear.

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