An unmanned ship non-periodic communication and cooperative control system

Abstract

This invention discloses an unmanned vessel non-periodic communication cooperative control system, comprising: a path tracking controller, a cooperative controller, an extended state observer, a dynamic controller, a position event trigger, a cooperative variable event trigger, a state sampling event trigger, and a control input event trigger. The input signal of the cooperative controller is the path tracking error and the estimated value of the path variable of the neighboring vessel triggered by the cooperative variable event trigger; the output signal is the path variable. The extended state observer is based on the resultant velocity information and angular velocity information output by the unmanned vessel triggered by the state sampling event trigger. The extended state observer outputs the estimated state information and the estimated total disturbance of the unmanned vessel, and outputs a signal, which is then transmitted to the unmanned vessel to achieve control of the unmanned vessel. This system can estimate the total disturbance composed of internal uncertainties and external disturbances while reducing computational costs.

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