Containment control method for unmanned boat swarm

Abstract

The present invention provides a containment control method for an unmanned boat cluster, which decomposes the distributed cooperative containment model of the unmanned boat cluster into an outer control strategy and an inner control strategy. Based on the information transmission and interaction between the unmanned boats, a distributed control architecture is used, and the expected speeds of all the unmanned boats are made consistent through information interaction between the leader unmanned boat and the follower unmanned boat in the unmanned boat cluster, so as to transform the containment model of the unmanned boat cluster into a distributed cooperative formation model of a multi-agent system based on a virtual center, obtain the leader-follower distributed consistency control algorithm and the fixed geometric formation array to effectively contain the target unmanned boat; based on the external environmental disturbances to which the unmanned boats are subjected in complex sea areas, the sliding mode control is applied to the inner control of the distributed cooperative containment control of the unmanned boat cluster, and on the basis of the environmental disturbances, each unmanned boat can track the target position in the geometric formation, and realize the stable tracking control of the target unmanned boat.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and in particular to a containment control method for an unmanned boat cluster. Background Art

[0002] In recent years, with the depletion of land fuel resources, the strategic position of the ocean, which occupies about 71% of the earth's surface, has been continuously improved. In order to fully explore and exploit marine resources, the development of marine equipment technology is indispensable. Marine intelligent equipment represented by unmanned boats (including underwater vehicles, underwater robots, surface unmanned ships, etc.) is the main carrier of marine operations at this stage.

[0003] Clustered unmanned vessels refer to a group of multiple unmanned vessels. In recent years, the application of clustered unmanned vessels has been growing. At present, clustered unmanned vessels have played an important role in military fields such as capture, expulsion, mine sweeping, anti-submarine, and civil fields such as material supply, terrain mapping, sea rescue, and unmanned search.

[0004] However, the containment and control of unmanned boat swarms often has problems with ensuring accuracy and timeliness. Summary of the invention

[0005] The purpose of the present invention is to provide a containment control method for an unmanned boat cluster, so as to solve the problem that the existing containment control of an unmanned boat cluster cannot guarantee accuracy and timeliness.

[0006] In order to solve the above technical problems, the present invention provides a method for controlling the containment of an unmanned boat cluster, comprising:

[0007] The distributed cooperative containment model of unmanned boat swarm is decomposed into the distributed cooperative formation control model of unmanned boat swarm with outer control strategy and the stable tracking control model of unmanned boat based on sliding mode control with inner control strategy.

[0008] The outer control strategy includes: based on information transmission and interaction between unmanned boats, using a distributed control architecture, through information interaction between the leader unmanned boat and the follower unmanned boat in the unmanned boat cluster, so that the position and speed of all unmanned boats are kept consistent, so as to transform the containment model of the unmanned boat cluster into a distributed collaborative formation model of a multi-agent system based on a virtual center, obtain the leader-follower distributed consistency control algorithm and the fixed geometric formation array to effectively contain the target unmanned boat;

[0009] The inner control strategy includes: based on the external environmental disturbances to which the unmanned boats are subjected in complex sea areas, sliding mode control is applied to the inner control of the distributed collaborative containment control of the unmanned boat cluster. On the basis of the environmental disturbances, each unmanned boat can track the target position in the geometric formation, thereby achieving stable tracking control of the target unmanned boat.

[0010] Optionally, in the containment control method of the unmanned boat cluster, the method further includes:

[0011] For the distributed collaborative containment control of the unmanned boat swarm, three containment stages are formed respectively, and different distributed collaborative control strategies of the unmanned boat swarm are implemented according to different containment stages;

[0012] A leader-follower distributed consistency control algorithm is introduced, wherein the leader-follower distributed consistency control algorithm has position consistency and acceleration consistency;

[0013] According to the distance between the blocked unmanned boat and the blockade center and the motion state of the blocked unmanned boat, multiple position consistency weight parameters and acceleration consistency weight parameters are set, so that the unmanned boat cluster can quickly approach the target unmanned boat at the first distance, and can quickly and stably block the target unmanned boat at the second distance;

[0014] The first distance is greater than the second distance.

[0015] Optionally, in the containment control method of the unmanned boat cluster, step 1 is also included:

[0016] The definition of the unmanned boat swarm that performs the dynamic containment mission includes a networked unmanned boat swarm system consisting of a leader unmanned boat and a follower unmanned boat. First, the following single boat model of a conventional unmanned boat is established:

[0017]

[0018] where x pi and pi represents the position coordinates of the unmanned boat in the ground coordinate system O-XYZ, ψ i is the yaw angle of the ground coordinate system of the unmanned vehicle, p i ,q i are the surge speed and swing speed of the unmanned boat, r i is the yaw angular velocity of the unmanned boat, m 11 ,m 22 ,m 23 ,m 32 ,m 33 Represents the inertial mass of the unmanned boat; d 11 ,d 22 ,d 23 ,d 32 ,d 33 represents the damping of the fluid dynamics of the unmanned boat, c 13 ,c 23 represents the damping coefficient; u pi ,u riis the control input provided by the UAV propulsion system; ω pi ,ω qi ,ω ri They are the ocean environment disturbances of the unmanned boat in the surge, sway and yaw directions.

[0019] Optionally, the containment control method of the unmanned boat cluster further includes step 2:

[0020] According to the single boat model in step 1, the velocity vector and position vector of the i-th unmanned boat are defined as v i =[p i q i r i ] T ,x i =[x pi y pi ψ i ] T , convert the conventional unmanned boat model into the following second-order dynamic model with position vector and velocity vector:

[0021]

[0022] where u i =[u pi 0 u ri ] T is the actual control input vector of the UAV propulsion system, ω i =[ω pi ω qi ω ri ] T is the external disturbance vector of the unmanned boat, C and D are the damping coefficient matrices, M represents the inertial mass matrix, J(ψ i ) is the transformation matrix between the ground coordinate system and the hull coordinate system, and the specific parameters are given by the following formula:

[0023]

[0024] Furthermore, the second-order dynamic model of the above unmanned boat cluster is transformed as follows:

[0025]

[0026] Among them, f(x i ,v i ,t)=M -1 (-Dv i -Cx i ) and f(ω i ,t)=M -1 ω i They are respectively represented as the system nonlinear term and external disturbance term of the unmanned boat.

[0027] Optionally, the containment control method of the unmanned boat cluster further includes step three:

[0028] In the execution of unmanned boat cluster containment missions in complex sea areas, unmanned boat cluster containment application scenarios are set, including: the target unmanned boat under containment performs uniform linear motion in a non-escaping state, enters an escape state when being contained, and performs arc motion;

[0029] According to the application scenario of unmanned boat cluster containment, the target unmanned boat has the following movement modes in the corresponding three stages:

[0030] In the first stage, d is set as the distance between the target unmanned boat and the center of the encirclement of the encirclement unmanned boat cluster. The distance at which the target unmanned boat discovers the encirclement of the unmanned boat cluster is D. When d is greater than the set encirclement discovery distance D, the encirclement of the unmanned boat cluster accelerates to approach the target unmanned boat, and the target unmanned boat is in a non-escaping state and moves in a uniform straight line.

[0031] In the second stage, when d=D, the target unmanned boat has found that it is about to be surrounded and begins to escape at an accelerated speed. The target unmanned boat enters an arc escape state, and the cluster of surrounding unmanned boats accelerates to approach; when d<D, the cluster of surrounding unmanned boats has approached the target unmanned boat and begins geometric containment;

[0032] In the third stage, the target unmanned boat failed to escape and was successfully surrounded and marked as in, The preset smaller constant indicates that the collision avoidance is completed, and the blocking unmanned boat cluster begins to block stably and advances in a geometric formation with the target unmanned boat;

[0033] Specifically, the moving position equations at each stage are expressed as follows:

[0034]

[0035] Among them, x tg ,y tg represents the horizontal and vertical movement position of the target unmanned boat, t represents the time parameter, t0 and t1 represent the end time of stage 1 and stage 2 respectively, (x0, y0) and (x1, y1) represent the coordinate position of the target unmanned boat at the end of stage 1 and stage 2 respectively, and σ x ,σ y Respectively represent the speed parameters of movement in the horizontal and vertical directions.

[0036] Optionally, the method for controlling the containment of the unmanned boat swarm further includes step 4:

[0037] The unmanned boat swarm is used to block the target unmanned boat through the unmanned boat swarm distributed blockade control method of the inner and outer double-loop control strategy. Firstly, the outer control strategy of the unmanned boat swarm distributed blockade control method is implemented to transform the unmanned boat blockade problem into a distributed collaborative formation control problem of a multi-agent system based on a virtual center.

[0038] The networked unmanned boat clusters are connected to each other through a communication network, and their network layer connection mode is represented by a communication topology graph; for a directed topology graph G = (V, E, A), V = {1, ..., N} represents the nodes of the directed graph, E = {(i, j), i, j∈V} represents the edges of the directed graph, and its adjacency matrix is If (j,i)∈E, then a ij > 0, otherwise a ij =0; define the Laplace matrix

[0039] in

[0040] In the outer control strategy of the distributed containment control method of the unmanned boat swarm, based on the position, linear velocity and yaw angle of the unmanned boat, the attitude control problem of the unmanned boat is ignored in the outer link, and the unmanned boat is modeled as a point mass system; the point mass model of the unmanned boat is approximately described by the following double integrator:

[0041]

[0042] Among them, x i (t) and v i (t) represent the position and velocity vector of the i-th unmanned boat, u i (t) represents the control input vector of the UAV propulsion system, see the definition in step 2 for details;

[0043] According to the application scenario of the containment of the unmanned boat cluster, for the leader-follower unmanned boat cluster system, a leader-follower distributed consistency control algorithm based on position consistency, velocity consistency and acceleration consistency parameters is set to achieve the consistency of the position and velocity vector of the unmanned boat cluster, and determine the containment center of the leader-follower unmanned boat cluster to track and approach the target unmanned boat being contained:

[0044]

[0045] in represents the position vector of the containment center, represents the position vector of the target unmanned boat, where ψ tg is the yaw angle of the target unmanned boat. The first-order derivative and second-order derivative of the position vector represent the velocity vector and acceleration vector of the unmanned boat respectively. Tracking Arrival Υ indicates that the target unmanned boat can be obtained Information leader unmanned boat collection; represents the position consistency parameter;

[0046] represents the acceleration consistency parameter, where α and β represent two positive adjustable parameters, and p≤p(t)≤P and q≤q(t)≤Q, where p and P represent the upper and lower bounds of the parameter p(t), and q and Q represent the upper and lower bounds of the parameter q(t); if the i-th unmanned boat in the leader-follower unmanned boat cluster system can receive the information of the j-th unmanned boat, then g ij =1, if unable to receive information then g ij =0.

[0047] Optionally, the unmanned boat cluster containment control method further includes step five:

[0048] For the outer control strategy of the distributed containment control method of the unmanned boat swarm in step 4, the target unmanned boat is contained by a geometric formation. According to the containment task goal to be completed in step 3, the following geometric formation is set to complete the dynamic containment task:

[0049]

[0050] in, represents the horizontal and vertical positions of the i-th unmanned boat in the containment center position vector obtained according to the leader-follower distributed consistency control algorithm in step 4, without considering the yaw angle in the two-dimensional plane of the geometric formation;

[0051] Same reason represents the horizontal and vertical position of the target position vector of the i-th unmanned boat in the geometric formation;

[0052]

[0053] Where D represents the lateral length of the formation square; according to the above formula, if each blocking unmanned boat in the leader-follower unmanned boat cluster can reach the target position, the required geometric formation blocking shape can be achieved.

[0054] Optionally, the method for controlling the containment of the unmanned boat swarm further includes step six:

[0055] In order to realize the geometric formation in step five, based on the outer control strategy of the distributed containment control method of the unmanned boat swarm in step three, a sliding mode control protocol of the inner control strategy is set. First, according to the geometric formation shape in step five and the target position of each unmanned boat, the following second-order dynamic error is designed:

[0056]

[0057] where x i ,v i represents the current position and velocity vector of the unmanned boat, b i represents the proportional parameter of the error of the i-th unmanned boat, is the expected position vector and velocity vector of the i-th unmanned boat, where the horizontal and vertical position quantities are obtained in step 5, and the yaw angle definition and Then we get the following global expression of the second-order dynamics:

[0058]

[0059] The global position error is The global speed error is The global error of the remaining second-order dynamics is expressed as B is an N×N diagonal matrix with diagonal elements b i ,I n represents the n×n unit matrix;

[0060] Further, according to the unmanned boat model with system nonlinear terms and external disturbance terms in step 2, define F = [f T (x1,v1,t),...,f T (x N ,v N ,t) T ] T represents the global nonlinear term of the unmanned boat swarm, represents the global nonlinear term corresponding to the target position and target velocity, ω=[f T (ω1,t),...,f T (ω N ,t)] T represents the global external disturbance term, u=[[M -1 u1] T ,...,[M -1 u N ] T ] T represents the global control input, J=[J T (ψ1),...,J T (ψ N )] T ;

[0061] Therefore, the global dynamic error of the second-order dynamics is expressed as follows:

[0062]

[0063]

[0064] The global input of the target control and

[0065] According to the above error amount, the following sliding surface is set:

[0066] s=μe1+e2

[0067] Where μ>0, And s i =μe 1i +e 2i ,i=1,...,N;

[0068] Under the action of the sliding surface of the inner control strategy, the following sliding mode control protocol is designed for the leader-follower unmanned boat cluster to enable each unmanned boat to track and reach its respective target position in the geometric formation and complete the geometric formation containment task:

[0069]

[0070] Among them, ψ d (s i )=-χsgn(s i ) and χ is a parameter determined by the Lyapunov function to ensure the stability of the unmanned boat cluster system.

[0071] Optionally, the method for controlling the containment of the unmanned boat swarm further includes step seven:

[0072] According to the sliding mode control protocol of the inner control strategy of step six, combined with the leader-follower distributed consistency control algorithm based on position consistency, speed consistency, and acceleration consistency parameters in step four, the target unmanned boat and task unmanned boat cluster topology consists of five nodes, namely Target, 1L, 2F, 3F, and 4F, where Target represents the blocked target unmanned boat, 1L represents the target unmanned boat, and 1L represents the target unmanned boat. represents the leader unmanned boat in the leader-follower unmanned boat cluster formation, 2F, 3F, and 4F represent the other three follower unmanned boats in the leader-follower unmanned boat cluster formation, among which 1L unmanned boat can unidirectionally receive Target unmanned boat information, 2F can unidirectionally receive 1L and 4F unmanned boat information, 3F can unidirectionally receive 2F unmanned boat information, and 4F can unidirectionally receive 1L and 3F unmanned boat information. The four unmanned boat clusters formed by the topology perform distributed containment operations to realize the geometric formation in step five and complete the successful dynamic containment of the encircled target unmanned boat.

[0073] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the containment control method for an unmanned boat cluster as described in any of the above items are implemented.

[0074] The inventor of the present invention has found through research that, for the containment control problem of unmanned boat clusters, the existing technology often focuses on a single constraint on the position of the unmanned boat cluster that performs the containment task, and directly surrounds the target unmanned boat to implement the containment, but rarely considers the information transmission and interaction between the unmanned boat clusters, and has not effectively used the idea of ​​cluster distributed collaboration to realize the autonomy and intelligence of the unmanned boat cluster. Therefore, it is urgent to develop a distributed collaborative containment control algorithm in the field of unmanned boat cluster containment;

[0075] For the stable control and precise tracking of a single boat in the distributed cooperative containment control of unmanned boat swarms, the existing technology often uses a joint controller based on Lyapunov stability theory to design trajectory and path tracking, ignoring the nonlinear factors of unmanned boats performing dynamic tasks in practical applications, such as nonlinear system modeling, environmental wave disturbances, radar information interference, etc. Therefore, it is urgent to develop a control strategy that can achieve stable containment of the target unmanned boat under the framework of distributed cooperative containment control of unmanned boat swarms while considering external disturbances;

[0076] For the specific application scenarios of the distributed collaborative containment control problem of unmanned boat swarms, existing technologies often focus on using unmanned boat swarms to directly surround the target unmanned boat to achieve the containment goal, lacking the exploration of dynamic pursuit and dynamic escape strategies during the containment process, and not considering the different distributed collaborative containment control strategies that need to be adopted at different stages in the unmanned boat swarm containment process. Therefore, it is urgent to develop actual and specific containment scenarios that occur during the distributed containment process of unmanned boat swarms, and adopt corresponding distributed collaborative containment control strategies for different containment stages.

[0077] Based on the above insights, the present invention provides a containment control method for an unmanned boat swarm, which uses an inner and outer double-loop control strategy to decompose the distributed collaborative containment problem of the unmanned boat swarm into a distributed collaborative formation control problem of the unmanned boat swarm of the outer control strategy and an unmanned boat stable tracking control problem based on sliding mode control of the inner control strategy. A networked leader-follower unmanned boat swarm system for performing military combat containment / civilian sea rescue in open, dynamic and complex waters is constructed, and a distributed collaborative containment control method for an unmanned boat swarm is proposed, which realizes the geometric formation containment task of the target unmanned boat, and solves the difficulty of achieving rapid and stable containment of the unmanned boat swarm on the basis of ensuring the collaborative consistency of multiple boats.

[0078] The present invention designs a distributed collaborative containment control method for unmanned boat clusters in open, dynamic and complex sea areas, which can enable multiple unmanned boats of one's own side to realize stable geometric formation containment of enemy target unmanned boats on the basis of ensuring the consistency of their own states, and play an important role in military combat encirclement and capture, civilian sea rescue and other aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a schematic flow chart of the distributed collaborative containment control method of the unmanned boat swarm in the first embodiment of the present invention;

[0080] Figure 2 2. It is a schematic diagram of the distributed collaborative containment topology of the unmanned boat cluster in the first embodiment of the present invention;

[0081] Figure 3 It is a schematic diagram of a three-stage process of four friendly unmanned boats encircling one enemy unmanned boat in the second embodiment of the present invention. DETAILED DESCRIPTION

[0082] The present invention will be further described below in conjunction with specific embodiments with reference to the accompanying drawings.

[0083] It should be noted that the components in the figures may be shown exaggeratedly for the sake of illustration and are not necessarily true to scale. In the figures, identical or functionally identical components are provided with the same reference numerals.

[0084] In the present invention, unless otherwise specified, "arranged on...", "arranged above..." and "arranged above..." do not exclude the existence of an intermediate between the two. In addition, "arranged on or above..." merely indicates the relative positional relationship between two components, and in certain cases, such as after reversing the product direction, it can also be converted into "arranged below or below...", and vice versa.

[0085] In the present invention, each embodiment is only intended to illustrate the aspects of the present invention and should not be construed as limiting.

[0086] In the present invention, unless otherwise specified, the quantifiers "a", "an" and "an" do not exclude the presence of a plurality of elements.

[0087] It should also be noted that in the embodiments of the present invention, for the sake of clarity and simplicity, only a portion of the parts or components may be shown, but those of ordinary skill in the art will understand that under the teachings of the present invention, the required parts or components may be added according to the needs of the specific scenario. In addition, unless otherwise specified, the features in different embodiments of the present invention may be combined with each other. For example, a feature in the second embodiment may be used to replace a corresponding or functionally identical or similar feature in the first embodiment, and the resulting embodiment also falls within the disclosure scope or recorded scope of the present application.

[0088] It should also be noted that within the scope of the present invention, the terms "same", "equal", "equal to" and the like do not mean that the values ​​of the two are absolutely equal, but allow a certain reasonable error, that is, the terms also cover "substantially the same", "substantially equal", "substantially equal to". By analogy, in the present invention, the terms "perpendicular to", "parallel to" and the like indicating directions also cover the meanings of "substantially perpendicular to" and "substantially parallel to".

[0089] In addition, the numbering of the steps of the methods of the present invention does not limit the execution order of the method steps. Unless otherwise specified, the method steps can be executed in different orders.

[0090] The following is a further detailed description of the unmanned boat cluster containment control method proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer based on the following description. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0091] The purpose of the present invention is to provide a containment control method for an unmanned boat cluster, so as to solve the problem that the existing containment control of an unmanned boat cluster cannot guarantee accuracy and timeliness.

[0092] To achieve the above-mentioned objectives, the present invention provides a containment control method for an unmanned boat cluster, comprising: decomposing a distributed collaborative containment model of an unmanned boat cluster into a distributed collaborative formation control model of an unmanned boat cluster of an outer control strategy and an unmanned boat stable tracking control model based on sliding mode control of an inner control strategy.

[0093] For the outer control strategy, based on the consideration of information transmission and interaction between unmanned boats, a distributed control architecture is used to ensure the consistency of the position and speed state of the unmanned boats through the information interaction between the leader unmanned boat and the follower unmanned boat in the unmanned boat cluster. The containment problem of the unmanned boat cluster is transformed into a distributed collaborative formation problem of a multi-agent system based on a virtual center. A leader-follower distributed consistency control algorithm and a fixed geometric formation array are designed to effectively contain the target unmanned boat. For the inner control strategy, considering the external environmental disturbances to which the unmanned boats are subjected in complex sea areas, sliding mode control is applied to the inner control of the distributed collaborative containment control of the unmanned boat cluster. Based on the consideration of environmental disturbances, each unmanned boat can reach and track the target position in the geometric formation, thus realizing stable tracking control of the target unmanned boat.

[0094] For the distributed collaborative containment control of unmanned boat swarms, a three-stage specific containment process was designed, and different unmanned boat swarm distributed collaborative control strategies were designed according to different containment stages. A leader-follower distributed consistency control algorithm with position consistency and acceleration consistency was introduced. Different position consistency weight parameters and acceleration consistency weight parameters were designed according to the distance of the contained unmanned boat from the containment center and the motion state of the contained unmanned boat. This ensures that the unmanned boat swarm can quickly approach the target unmanned boat at a long distance, and can also quickly and stably contain the target unmanned boat at a close distance.

[0095] Figure 1 , 2 A first embodiment of the present invention is provided, wherein Figure 1 A flow chart of a method for controlling the containment of an unmanned boat swarm is shown; Figure 1 As shown, step one includes: defining the unmanned boat swarm that performs the dynamic containment mission as a networked unmanned boat swarm system consisting of a leader unmanned boat and a follower unmanned boat. First, establish the following single boat model of a conventional unmanned boat:

[0096]

[0097] where x pi and pi represents the position coordinates of the unmanned boat in the ground coordinate system O-XYZ, ψ i is the yaw angle of the ground coordinate system of the unmanned vehicle, p i ,q i are the surge speed and swing speed of the unmanned boat, r i is the yaw angular velocity of the unmanned boat, m 11 ,m 22 ,m 23 ,m 32 ,m 33 Represents the inertial mass of the unmanned boat. 11 ,d 22 ,d 23 ,d 32 ,d 33 represents the damping of the fluid dynamics of the unmanned boat, c 13 ,c 23 represents the damping coefficient. pi ,u ri is the control input provided by the UAV propulsion system. pi ,ω qi ,ω ri They are the ocean environment disturbances of the unmanned boat in the surge, sway and yaw directions.

[0098] Step 2: According to the single boat model in step 1, define the velocity vector and position vector of the i-th unmanned boat as vi =[p i q i r i ] T ,x i =[x pi y pi ψ i ] T , convert the conventional unmanned boat model into the following second-order dynamic model with position vector and velocity vector:

[0099]

[0100] where u i =[u pi 0 u ri ] T is the actual control input vector of the UAV propulsion system, ω i =[ω pi ω qi ω ri ] T is the external disturbance vector of the unmanned boat, C and D are the damping coefficient matrices, M represents the inertial mass matrix, J(ψ i ) is the transformation matrix between the ground coordinate system and the hull coordinate system, and the specific parameters are given by the following formula:

[0101]

[0102] Furthermore, the second-order dynamic model of the above unmanned boat cluster is transformed as follows:

[0103]

[0104] Among them, f(x i ,v i ,t)=M -1 (-Dv i -Cx i ) and f(ω i ,t)=M -1 ω i They are respectively represented as the system nonlinear term and external disturbance term of the unmanned boat.

[0105] Step 3: When executing the unmanned boat swarm containment mission in complex waters, design the following unmanned boat swarm containment application scenario and implement the following three-stage containment plan:

[0106] The target unmanned boat under siege moves in a uniform straight line in the non-escape state, and enters the escape state when being sieged, and moves in an arc. Therefore, the target unmanned boat under siege has the following movement modes in the corresponding three stages:

[0107] In the first stage, d is set as the distance between the target unmanned boat and the center of the encirclement of the encirclement unmanned boat cluster. The distance at which the target unmanned boat discovers the encirclement of the unmanned boat cluster is D. When d is greater than the set encirclement discovery distance D, the encirclement of the unmanned boat cluster accelerates to approach the target unmanned boat, and the target unmanned boat is in a non-escaping state and moves in a uniform straight line.

[0108] In the second stage, when d = D, the target unmanned boat has found that it is about to be surrounded and begins to escape at an accelerated speed. The target unmanned boat enters an arc escape state, and the cluster of surrounding unmanned boats accelerates to approach. When d < D, the cluster of surrounding unmanned boats has approached the target unmanned boat and begins geometric containment;

[0109] In the third stage, the target unmanned boat failed to escape and was successfully surrounded and marked as in, When the preset smaller constant indicating the completion of collision avoidance is reached, the cluster of encircling unmanned boats begins to encircle stably and advances in a geometric formation with the target unmanned boat.

[0110] Specifically, the moving position equations at each stage are expressed as follows:

[0111]

[0112] Among them, x tg ,y tg represents the horizontal and vertical movement position of the target unmanned boat, t represents the time parameter, t0 and t1 represent the end time of stage 1 and stage 2 respectively, (x0, y0) and (x1, y1) represent the coordinate position of the target unmanned boat at the end of stage 1 and stage 2 respectively, and σ x ,σ y Respectively represent the speed parameters of movement in the horizontal and vertical directions.

[0113] Step 4: Design an inner and outer double-loop control strategy for the distributed containment control method of the unmanned boat swarm to realize the containment of the target unmanned boat by the unmanned boat swarm. First, design the outer control strategy of the distributed containment control method of the unmanned boat swarm to transform the unmanned boat containment problem into a distributed collaborative formation control problem of a multi-agent system based on a virtual center.

[0114] The networked unmanned boat clusters are connected to each other through the communication network, and their network layer connection mode is represented by the communication topology graph. For the directed topology graph G = (V, E, A), V = {1,..., N} represents the nodes of the directed graph, E = {(i, j), i, j∈V} represents the edges of the directed graph, and its adjacency matrix is If (j,i)∈E, then a ij >0,

[0115] Otherwise a ij = 0. Define the Laplacian matrix in

[0116] In the outer control strategy of the distributed containment control method of the unmanned boat swarm designed by the present invention, only the position, linear velocity and yaw angle of the unmanned boat need to be considered. Therefore, the attitude control problem of the unmanned boat can be ignored in the outer link, and the unmanned boat can be modeled as a point mass system. Furthermore, the point mass model of the unmanned boat can be approximately described by the following double integrator:

[0117]

[0118] Among them, x i (t) and v i (t) represent the position and velocity vector of the i-th unmanned boat, u i (t) represents the control input vector of the UAV propulsion system, see the definition in step 2 for details.

[0119] Considering the application scenario of the containment of unmanned boat clusters, the present invention designs a leader-follower distributed consistency control algorithm based on position consistency, velocity consistency and acceleration consistency parameters for the leader-follower unmanned boat cluster system to achieve the consistency of the position and velocity vector of the unmanned boat cluster, and determines the containment center of the leader-follower unmanned boat cluster to effectively track and approach the target unmanned boat being contained:

[0120]

[0121] in represents the position vector of the containment center, represents the position vector of the target unmanned boat, where ψ tg is the yaw angle of the target unmanned boat, and the first-order derivative and second-order derivative of the position vector represent the velocity vector and acceleration vector of the unmanned boat respectively. The goal of this algorithm is to drive Tracking Arrival Υ indicates that the target unmanned boat can be obtained Information leader unmanned boat collection. represents the position consistency parameter, represents the acceleration consistency parameter, where α and β represent two positive adjustable parameters, and p≤p(t)≤P and q≤q(t)≤Q, where p and P represent the upper and lower bounds of the parameter p(t), and q and Q represent the upper and lower bounds of the parameter q(t). If the i-th unmanned boat in the leader-follower unmanned boat cluster system can receive the information of the j-th unmanned boat, then g ij =1, if unable to receive information then g ij =0.

[0122] For the above leader-follower distributed consistency control algorithm, the present invention uses p(t) as the consistency parameter for position consistency, which means that when the distance between the target unmanned boat and the center of the encirclement of the unmanned boat cluster is large, the position consistency has a larger weight in the leader-follower algorithm, and when the distance between the target unmanned boat and the center of the encirclement of the unmanned boat cluster is small, the position consistency has a smaller weight in the leader-follower algorithm; and for acceleration consistency, the present invention uses q(t) as the consistency parameter, when the distance between the target unmanned boat and the center of the encirclement of the unmanned boat cluster is large, the acceleration consistency has a smaller weight, and when the distance between the target unmanned boat and the center of the encirclement of the unmanned boat cluster is small, the acceleration consistency has a larger weight. This strategy enables rapid tracking when the distance between the encircled target unmanned boat and the center of the encirclement of the unmanned boat cluster is large, and can also avoid losing the target due to the rapid start of the encircled target when the distance between the encircled target unmanned boat and the center of the encirclement of the unmanned boat cluster is small.

[0123] Step 5: For the outer control strategy of the distributed containment control method of the unmanned boat cluster in step 4, the present invention designs a geometric formation to contain the target unmanned boat. According to the containment task goal to be completed in step 3, the following geometric formation can be designed to complete the dynamic containment task:

[0124]

[0125] in, It represents the horizontal and vertical position of the blockade center position vector of the i-th unmanned boat according to the leader-follower distributed consistency control algorithm in step 4, without considering the yaw angle in the two-dimensional plane of the geometric formation.

[0126] Same reason Represents the horizontal and vertical positions of the target position vector of the i-th unmanned boat in the geometric formation. Where D represents the horizontal length of the formation square. According to the above formula, if each blocking unmanned boat in the leader-follower unmanned boat cluster can reach the target position, the required geometric formation blocking shape can be achieved.

[0127] Step 6: In order to realize the geometric formation in step 5, based on the outer control strategy of the distributed containment control method of the unmanned boat cluster in step 3, the sliding mode control protocol of the inner control strategy is designed. First, according to the geometric formation shape in step 5 and the target position of each unmanned boat, the following second-order dynamic error is designed:

[0128]

[0129] where x i ,v i represents the current position and velocity vector of the unmanned boat, b irepresents the proportional parameter of the error of the i-th unmanned boat, is the expected position vector and velocity vector of the i-th unmanned boat, where the horizontal and vertical position quantities are obtained in step 5, and the yaw angle definition and Then we can get the following global expression of second-order dynamics:

[0130]

[0131] The global position error is The global speed error is The global error of the remaining second-order dynamics is expressed as B is an N×N diagonal matrix with diagonal elements b i ,I n represents the n×n unit matrix.

[0132] Further, according to the unmanned boat model with system nonlinear terms and external disturbance terms in step 2, define F = [f T (x1,v1,t),...,f T (x N ,v N ,t) T ] T represents the global nonlinear term of the unmanned boat swarm, represents the global nonlinear term corresponding to the target position and target velocity, ω=[f T (ω1,t),...,f T (ω N ,t)] T represents the global external disturbance term, u=[[M -1 u1] T ,...,[M -1 u N ] T ] T represents the global control input, J=[J T (ψ1),...,J T (ψ N )] T .

[0133] Therefore, the global dynamic error of the second-order dynamics is expressed as follows:

[0134]

[0135]

[0136] The global input of the target control and

[0137] According to the above error amount, the present invention designs the following sliding surface:

[0138] s=μe1+e2

[0139] Where μ>0, And s i =μe 1i +e 2i ,i=1,…,N.

[0140] Under the action of the sliding surface of the inner control strategy, the following sliding mode control protocol is designed for the leader-follower unmanned boat cluster to enable each unmanned boat to track and reach its respective target position in the geometric formation and complete the geometric formation containment task:

[0141]

[0142] Among them, ψ d (s i )=-χsgn(s i ) and χ is a parameter determined by the Lyapunov function to ensure the stability of the unmanned boat cluster system.

[0143] Step 7: Based on the sliding mode control protocol of the inner control strategy in step 6, the leader-follower distributed consistency control algorithm based on position consistency, velocity consistency, and acceleration consistency parameters in step 4 is combined, such as Figure 2 As shown, the present invention can perform distributed containment operations on the four unmanned boat clusters formed according to the topological diagram, where Target represents the target unmanned boat to be contained, 1L represents the leader unmanned boat in the leader-follower unmanned boat cluster formation, and 2F, 3F, and 4F represent the remaining three follower unmanned boats in the leader-follower unmanned boat cluster formation, so that the geometric formation in step five is realized, and the successful dynamic containment of the target unmanned boat to be contained is completed. Figure 2 The topology diagram shown: The directed topology diagram consists of five nodes, namely Target, 1L, 2F, 3F, and 4F, where Target represents the target unmanned boat being besieged, 1L represents the leader unmanned boat in the leader-follower unmanned boat cluster formation, 2F, 3F, and 4F represent the other three follower unmanned boats in the leader-follower unmanned boat cluster formation, where the 1L unmanned boat can unidirectionally receive the Target unmanned boat information, 2F can unidirectionally receive the 1L and 4F unmanned boat information, 3F can unidirectionally receive the 2F unmanned boat information, and 4F can unidirectionally receive the 1L and 3F unmanned boat information. According to the four unmanned boat clusters formed by the topology diagram described above, a distributed containment operation is performed to realize the geometric formation in step five, and the successful dynamic containment of the target unmanned boat being besieged is completed.

[0144] Figure 3A second embodiment of the present invention is provided, which shows a three-stage scheme for four unmanned boats of one side to encircle one unmanned boat of the enemy, such as Figure 3 As shown, where:

[0145] In the first stage, the mission unmanned boat cluster finds the target unmanned boat that needs to be encircled in the sea area and begins to approach the target unmanned boat rapidly. However, the target unmanned boat has not yet discovered that it is being encircled and is still in the non-escape stage, moving in a uniform straight line on the water surface.

[0146] In the second stage, the mission unmanned boat cluster continued to approach the target unmanned boat and began to encircle it in a geometric formation. At this time, the target unmanned boat found that it was surrounded by the unmanned boat cluster and began to enter the escape stage. In order to avoid the encirclement, it changed its direction of movement and performed a variable speed arc movement.

[0147] In the third stage, the mission unmanned boat cluster follows and locks onto the target. The target unmanned boat fails to escape, and the unmanned boat cluster achieves stable blockade of the target unmanned boat. After the blockade is successful, the mission unmanned boat cluster maintains a geometric formation and moves forward at a constant speed in sync with the target unmanned boat.

[0148] The present invention is suitable for geometrically encircling an enemy unmanned boat by several unmanned boats of one's own side in complex sea areas. In real sea areas, the unmanned boat formation of the present invention can achieve consistency of its own position and speed state according to the designed leader-follower distributed consistency control algorithm, and drive the encirclement center to quickly and accurately track the enemy target unmanned boat for effective encirclement, and design a specific geometric formation to prevent the target unmanned boat from escaping a second time.

[0149] To sum up, the present invention proposes three improvements. The first improvement is to design a distributed collaborative containment control method for unmanned boat clusters with an inner and outer double-loop control strategy. The information transmission between unmanned boats is taken into consideration in the outer control strategy. Based on a distributed mechanism, the distributed collaborative formation control method for multi-agent systems based on graph theory is applied to the field of unmanned boat cluster containment control.

[0150] In order to realize the distributed cooperative containment control of the unmanned boat cluster, the present invention uses an inner and outer double-loop control structure. In the outer control strategy, the formation containment problem of the unmanned boat is transformed into a distributed cooperative formation control problem of a multi-agent system based on a virtual center. In step 4, the following leader-follower distributed consistency control algorithm based on position consistency, speed consistency, and acceleration consistency parameters is designed:

[0151]

[0152] The virtual center strategy used in the conventional multi-agent formation method is transformed into the containment center strategy of the distributed collaborative containment problem of the unmanned boat cluster in the present invention, and an outer distributed control architecture is designed to ensure the precise consistency of the position and speed state of the unmanned boats through information interaction between the leader unmanned boat and the follower unmanned boats in the unmanned boat cluster.

[0153] At the same time, the present invention is based on the position consistency error of the unmanned boat and acceleration consistency error The improvements can ensure that the unmanned boat cluster can quickly approach the target unmanned boat at a long distance, and can also achieve stable blockade of the target unmanned boat by the unmanned boat cluster at a close distance.

[0154] The second improvement is to design a distributed collaborative containment control method for unmanned boat swarms with an inner and outer double-loop control strategy, introduce a sliding mode control strategy with strong robustness into the inner control strategy, and achieve stable containment control of the target unmanned boat while considering the disturbance of the marine environment.

[0155] Due to the complex nonlinear problems faced in the cooperative control of unmanned boats in an open dynamic ocean environment, the existing technology has proposed several types of control methods to reduce the impact of model uncertainty and marine environmental disturbances, such as adaptive backstepping control, neural network control, sliding mode control, etc. Compared with other cooperative control methods based on adaptive and neural network strategies, the sliding mode control structure is simple, the design is intuitive, and it has good robustness to system uncertain parameters and disturbances. The present invention applies the sliding mode control strategy to the inner control of the distributed cooperative containment control of the unmanned boat cluster, and realizes the stable containment control performance of the target unmanned boat on the basis of considering the marine environmental disturbance.

[0156] In step six, the present invention introduces the position and velocity error based on the second-order dynamics and designs the following unmanned boat cluster global dynamic error response:

[0157]

[0158]

[0159] At the same time, the sliding mode control protocol of the leader-follower unmanned boat cluster is designed under the action of the sliding mode surface s = μe1 + e2 Ensure that each unmanned boat in the unmanned boat cluster system can track and reach the target position of the unmanned boats in the geometric formation, and ultimately achieve successful dynamic containment.

[0160] The third improvement is to design a three-stage specific containment process and design targeted unmanned boat cluster distributed collaborative containment control strategies according to different containment stages.

[0161] Considering the specific application of unmanned boat clusters in containment, the present invention designs the following three-stage specific containment scheme:

[0162]

[0163] For the containment control in different containment stages, the following corresponding designs are made according to the leader-follower consistency control algorithm: In the first stage, the target unmanned boat is far away from the containment center. In the designed leader-follower distributed consistency control algorithm, position consistency Plays a leading role. At this time, the distributed consistency algorithm can make the unmanned boat cluster quickly approach the blocked target unmanned boat; when entering the second stage, the position, speed, and acceleration consistency The combined effect ensures that the target unmanned boat cannot escape during the escape phase; in the third phase, the center of the encirclement is closer to the target unmanned boat, and the acceleration consistency It plays a leading role and can prevent the trapped unmanned boat from suddenly accelerating and escaping. The designed three-stage specific containment scenario combined with the corresponding distributed collaborative containment control can realize the rapid and stable containment of the target unmanned boat by the unmanned boat cluster.

[0164] In summary, the above embodiments describe in detail different configurations of the containment control method for the unmanned boat cluster. Of course, the present invention includes but is not limited to the configurations listed in the above embodiments. Any content that is transformed based on the configurations provided in the above embodiments belongs to the scope of protection of the present invention. Those skilled in the art can draw inferences based on the contents of the above embodiments.

[0165] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0166] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A method for controlling the containment of an unmanned boat swarm, characterized in that: include: The distributed cooperative containment model of unmanned boat swarm is decomposed into the distributed cooperative formation control model of unmanned boat swarm with outer control strategy and the stable tracking control model of unmanned boat based on sliding mode control with inner control strategy. The outer control strategy includes: based on information transmission and interaction between unmanned boats, using a distributed control architecture, through information interaction between the leader unmanned boat and the follower unmanned boat in the unmanned boat cluster, so that the position and speed of all unmanned boats are kept consistent, so as to transform the containment model of the unmanned boat cluster into a distributed collaborative formation model of a multi-agent system based on a virtual center, obtain the leader-follower distributed consistency control algorithm and the fixed geometric formation array to effectively contain the target unmanned boat; The inner control strategy includes: based on the external environmental disturbances to which the unmanned boats are subjected in complex sea areas, sliding mode control is applied to the inner control of the distributed collaborative containment control of the unmanned boat cluster. On the basis of the environmental disturbances, each unmanned boat can track the target position in the geometric formation, thereby achieving stable tracking control of the target unmanned boat. The method for controlling the containment of the unmanned boat cluster further includes step 4: The unmanned boat swarm is used to block the target unmanned boat through the unmanned boat swarm distributed blockade control method of the inner and outer double-loop control strategy. Firstly, the outer control strategy of the unmanned boat swarm distributed blockade control method is implemented to transform the unmanned boat blockade problem into a distributed collaborative formation control problem of a multi-agent system based on a virtual center. The networked unmanned boat clusters are connected to each other through a communication network, and their network layer connection mode is represented by a communication topology graph; for a directed topology graph G = (V, E, A), V = {1, ..., N} represents the nodes of the directed graph, E = {(i, j), i, j∈V} represents the edges of the directed graph, and its adjacency matrix is If (j,i)∈E, then a ij > 0, otherwise a ij =0; define the Laplace matrix in In the outer control strategy of the distributed containment control method of the unmanned boat swarm, based on the position, linear velocity and yaw angle of the unmanned boat, the attitude control problem of the unmanned boat is ignored in the outer link, and the unmanned boat is modeled as a point mass system; the point mass model of the unmanned boat is approximately described by the following double integrator: Among them, x i (t) and v i (t) represent the position and velocity vector of the i-th unmanned boat, u i (t) represents the control input vector of the UAV propulsion system; According to the application scenario of the containment of the unmanned boat cluster, for the leader-follower unmanned boat cluster system, a leader-follower distributed consistency control algorithm based on position consistency, velocity consistency and acceleration consistency parameters is set to achieve the consistency of the position and velocity vector of the unmanned boat cluster, and determine the containment center of the leader-follower unmanned boat cluster to track and approach the target unmanned boat being contained: in represents the position vector of the containment center, represents the position vector of the target unmanned boat, where ψ tg is the yaw angle of the target unmanned boat. The first-order derivative and second-order derivative of the position vector represent the velocity vector and acceleration vector of the unmanned boat, respectively. Tracking Arrival γ indicates that the target unmanned boat can be obtained Information leader unmanned boat collection; represents the position consistency parameter; represents the acceleration consistency parameter, where α and β represent two positive adjustable parameters, and p≤p(t)≤P and q≤q(t)≤Q, where p and P represent the upper and lower bounds of the parameter p(t), and q and Q represent the upper and lower bounds of the parameter q(t); if the i-th unmanned boat in the leader-follower unmanned boat cluster system can receive the information of the j-th unmanned boat, then g ij =1, if unable to receive information then g ij =0; The method for controlling the containment of the unmanned boat cluster further includes step five: For the outer control strategy of the distributed containment control method of the unmanned boat swarm in step 4, the target unmanned boat is contained by a geometric formation. According to the containment task goal to be completed in step 3, the following geometric formation is set to complete the dynamic containment task: in, represents the horizontal and vertical positions of the i-th unmanned boat in the containment center position vector obtained according to the leader-follower distributed consistency control algorithm in step 4, without considering the yaw angle in the two-dimensional plane of the geometric formation; Same reason represents the horizontal and vertical position of the target position vector of the i-th unmanned boat in the geometric formation; Where D represents the lateral length of the formation square; according to the above formula, if each blocking unmanned boat in the leader-follower unmanned boat cluster can reach the target position, the required geometric formation blocking shape can be achieved.

2. The method for controlling the containment of an unmanned boat swarm as claimed in claim 1, characterized in that: Also includes: For the distributed collaborative containment control of the unmanned boat swarm, three containment stages are formed respectively, and different distributed collaborative control strategies of the unmanned boat swarm are implemented according to different containment stages; A leader-follower distributed consistency control algorithm is introduced, wherein the leader-follower distributed consistency control algorithm has position consistency and acceleration consistency; According to the distance between the surrounded unmanned boat and the center of the enclosure, as well as the motion state of the surrounded unmanned boat, multiple position consistency weight parameters and acceleration consistency weight parameters are set, so that the unmanned boat cluster can quickly approach the target unmanned boat at the first distance and can quickly and stably surround the target unmanned boat at the second distance; wherein the first distance is greater than the second distance.

3. The method for controlling the containment of an unmanned boat swarm as claimed in claim 2, characterized in that: It also includes Step 1: Define that the unmanned boat cluster performing the dynamic enclosure task includes a networked unmanned boat cluster system composed of a leader unmanned boat and follower unmanned boats. First, establish the following single-boat model of a conventional unmanned boat: where x pi and pi represents the position coordinates of the unmanned boat in the ground coordinate system O-XYZ, ψ i is the yaw angle of the ground coordinate system of the unmanned vehicle, p i ,q i are the surge speed and swing speed of the unmanned boat, r i is the yaw angular velocity of the unmanned boat, m 11 ,m 22 ,m 23 ,m 32 ,m 33 Represents the inertial mass of the unmanned boat; d 11 ,d 22 ,d 23 ,d 32 ,d 33 represents the damping of the fluid dynamics of the unmanned boat, c 13 ,c 23 represents the damping coefficient; u pi ,u ri is the control input provided by the UAV propulsion system; ω pi ,ω qi ,ω ri They are the ocean environment disturbances of the unmanned boat in the surge, sway and yaw directions.

4. The method for controlling the containment of an unmanned boat swarm as claimed in claim 3, characterized in that: It also includes Step 2: According to the single boat model in step 1, the velocity vector and position vector of the i-th unmanned boat are defined as v i =[p i q i r i ] T ,x i =[x pi y pi ψ i ] T , convert the conventional unmanned boat model into the following second-order dynamic model with position vector and velocity vector: where u i =[u pi 0 u ri ] T is the actual control input vector of the unmanned boat propulsion system, ω i =[ω pi ω qi ω ri ]T is the external disturbance vector of the unmanned boat, C and D are the damping coefficient matrices, M represents the inertial mass matrix, J(ψ i ) is the transformation matrix between the ground coordinate system and the hull coordinate system, and the specific parameters are given by the following formula: Furthermore, convert the above second-order dynamic model of the unmanned boat cluster as follows: Among them, f(x i ,v i ,t)=M -1 (-Dv i -Cx i ) and f(ω i ,t)=M -1 ω i They are respectively represented as the system nonlinear term and external disturbance term of the unmanned boat.

5. The method for controlling the containment of an unmanned boat swarm as claimed in claim 4, characterized in that: It also includes Step 3: In the task of unmanned boat cluster enclosure in complex sea areas, set the application scenarios of the unmanned boat cluster enclosure, including: the surrounded target unmanned boat moves in a uniform straight line in a non-escape state and enters an escape state when being surrounded and moves in an arc; According to the application scenarios of the unmanned boat cluster enclosure, the surrounded target unmanned boat has the following motion patterns in the corresponding three stages: In the first stage, set d as the distance between the target unmanned boat and the center of the enclosure of the unmanned boat cluster, and the distance at which the target unmanned boat discovers the unmanned boat cluster is D. Then, when d is greater than the set enclosure discovery distance D, the unmanned boat cluster accelerates towards the target unmanned boat, and the target unmanned boat is in a non-escape state and moves in a uniform straight line; In the second stage, when d = D, the target unmanned boat has discovered that it is about to be surrounded and starts to accelerate and escape. The target unmanned boat enters an arc escape state, and the unmanned boat cluster accelerates towards it; when d < D, the unmanned boat cluster has approached the target unmanned boat and starts to perform geometric enclosure; In the third stage, the target unmanned boat failed to escape and was successfully surrounded and marked as in, The preset smaller constant indicates that the collision avoidance is completed, and the blocking unmanned boat cluster begins to block stably and advances in a geometric formation with the target unmanned boat; Specifically, the moving position equations for each stage are expressed as follows: Among them, x tg ,y tg represents the horizontal and vertical movement position of the target unmanned boat, t represents the time parameter, t0 and t1 represent the end time of stage 1 and stage 2 respectively, (x0, y0) and (x1, y1) represent the coordinate position of the target unmanned boat at the end of stage 1 and stage 2 respectively, and σ x ,σ y Respectively represent the speed parameters of movement in the horizontal and vertical directions.

6. The method for controlling the containment of an unmanned boat swarm as claimed in claim 1, characterized in that: It also includes Step 6: To achieve the geometric formation in Step 5, based on the outer control strategy of the distributed enclosure control method of the unmanned boat cluster in Step 3, set the sliding mode control protocol of the inner control strategy. First, according to the geometric formation shape and the target positions of each unmanned boat in Step 5, design the following second-order dynamic error quantity: where x i ,v i represents the current position and velocity vector of the unmanned boat, b i represents the proportional parameter of the error of the i-th unmanned boat, is the expected position vector and velocity vector of the i-th unmanned boat, where the position in the horizontal and vertical directions is obtained by step 5, and the yaw angle definition and Then we get the following global expression of the second-order dynamics: The global position error is The global speed error is The global error of the remaining second-order dynamics is expressed as B is an N×N diagonal matrix with diagonal elements b i ,I n represents the n×n unit matrix; Further, according to the unmanned boat model with system nonlinear terms and external disturbance terms in step 2, define F = [f T (x1,v1,t),...,f T (x N ,v N ,t) T ] T represents the global nonlinear term of the unmanned boat swarm, represents the global nonlinear term corresponding to the target position and target velocity, ω=[f T (ω1,t),...,f T (ω N ,t)] T represents the global external disturbance term, u=[[M -1 u1] T ,...,[M -1 u N ] T ] T represents the global control input, J=[J T (ψ1),...,J T (ψ N )] T ; Therefore, the global dynamic error quantity of the second-order dynamic is expressed as follows: The global input of the target control and According to the above error quantity, set the following sliding mode surface: s = μe1 + e2 Where μ>0, And s i =μe 1i +e 2i ,i=1,…,N; Under the action of the sliding mode surface of the inner control strategy, design the following sliding mode control protocol for the leader-follower unmanned boat cluster to enable each unmanned boat to track and reach its respective target position in the geometric formation and complete the geometric formation enclosure task: Among them, ψ d (s i )=-χsgn(s i ) and χ is a parameter determined by the Lyapunov function to ensure the stability of the unmanned boat cluster system.

7. The method for controlling the containment of an unmanned boat swarm as claimed in claim 6, characterized in that: It also includes Step 7: According to the sliding mode control protocol of the inner control strategy in step six, combined with the leader-follower distributed consistency control algorithm based on position consistency, velocity consistency, and acceleration consistency parameters in step four, the target unmanned boat and the task unmanned boat cluster topology are composed of five nodes, namely Target, 1L, 2F, 3F, and 4F, where Target represents the blocked target unmanned boat, 1L represents the leader unmanned boat in the leader-follower unmanned boat cluster formation, and 2F, 3F, and 4F represent the other three follower unmanned boats in the leader-follower unmanned boat cluster formation. 1L The unmanned boat can receive one-way Target Unmanned boat information, 2F Capable of one-way reception 1L,4F Unmanned boat information, 3F Capable of one-way reception 2F Unmanned boat information, 4F Capable of one-way reception 1L,3F Unmanned boat information, the four unmanned boat clusters formed by the topology perform distributed containment operations to achieve the geometric formation in step five and complete the successful dynamic containment of the target unmanned boat being contained.

8. A computer-readable storage medium, characterized in that: A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it realizes the steps of the enclosure control method of the unmanned boat cluster according to any one of claims 1 to 7.

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