Multi-unmanned ship course consistency control method based on dynamic event triggering
An event-triggered and control method technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system and other directions, can solve problems such as difficulty in implementation, and achieve communication resources saving, easy implementation, and communication reduction. Effect
Pending Publication Date: 2022-06-07
NANJING UNIV OF INFORMATION SCI & TECH
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However, the above-mentioned distributed event-triggered algorithm requires continuous detection of the event-triggered function, which is difficult to implement in practical systems, especially digital control systems.
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[0050] In order to make the purpose of the present application, the technical solution and the advantages more clearly understood, the following in conjunction with the accompanying drawings and embodiments, the present application will be further detailed in detail.
[0051] In the present embodiment, a multi-unmanned vessel course consistency control method based on dynamic event triggering, comprising the following steps:
[0052](1) In the present embodiment, the multi-unmanned ship system is composed of 4 unmanned ships, and the corresponding communication topology is established according to the course, communication, and status information of each unmanned ship, such as Figure 1 shown, so that x(0) = [1,2,3,4] T 。 Build a mathematical model of a multi-unmanned ship system, and the mathematical model expression of each unmanned ship:
[0053]
[0054] where x i Indicates the heading angle, u i Represents the heading angular velocity control variable, t represents the time,...
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The invention discloses a multi-unmanned-ship course consistency control method based on dynamic event triggering, and the method comprises the following steps: (1) building a communication topological graph according to the course, communication and state information of each unmanned ship in a multi-unmanned-ship system, and building a mathematical model of each unmanned ship; (2) calculating a course deviation variable of each unmanned ship according to an ideal value and an actual value of a course angle of the unmanned ship, and establishing a multi-unmanned ship course consistency control model under a corresponding event triggering mechanism by utilizing an adjacent matrix and the deviation variable of each unmanned ship in a communication topological graph; and (3) introducing a sampling control mechanism, establishing a triggering condition of a triggering mechanism, and applying the dynamic event triggering control model to a controller of each unmanned ship to realize the course consistency of multiple unmanned ships. According to the invention, by designing a distributed dynamic event triggering algorithm, the communication between the unmanned ships is greatly reduced, and more communication resources are saved.
Description
Technical field [0001] The present invention relates to the field of multi-agent collaborative control, particularly to a multi-unmanned ship course consistency control method based on dynamic event triggering. Background [0002] Unmanned ships refer to the use of sensors, communications, Internet of Things, Internet and other technical means, automatically perceive and obtain information and data on the ship itself, marine environment, logistics, ports, etc., and make related responses to the intellectual body, which has application prospects in transportation, marine garbage cleaning, water quality testing and other aspects. [0003] How to make multiple unmanned ships work together to achieve heading consistency is a problem facing the current unmanned ship formation control, and the key point is to develop a distributed protocol so that the agents in the multi-agent system can achieve consistency. Multi-agent system consistency is widely used in robot formations, microgrid p...
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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 赵中原梁旭郭大力
Owner NANJING UNIV OF INFORMATION SCI & TECH