A method and system for tracking control of unmanned surface vehicle groups

Abstract

The present invention relates to a method and system for consistency tracking control of an unmanned surface vehicle group, the method comprising: taking multiple unmanned surface vehicles as a multi-agent system, establishing a multi-agent system input-output model according to the multi-agent system; establishing a heading control subsystem model according to the heading angle, angular velocity, and rudder angle of the unmanned surface vehicle; introducing a dynamic event triggering mechanism in the communication of the heading control subsystem model; establishing a differential dynamic event-triggered model-free adaptive controller in combination with the multi-agent system input-output model, the heading control submodel, and the dynamic event triggering mechanism; and performing consistency tracking control on the multi-agent system according to the model-free adaptive controller triggered by the differential dynamic event. The present invention can solve the problems of limited communication resources and unknown dynamic models of unmanned surface vehicles, so as to realize the model-free adaptive heading consistency tracking task triggered by dynamic events.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned surface vehicle control, and in particular to a method and system for consistent tracking control of an unmanned surface vehicle group. Background Art

[0002] Unmanned surface vehicles (surface vessels without operators) have been widely used in commercial ships, naval forces and scientific applications due to their operational flexibility, good concealment, low operating costs and high safety. The cooperative control of an unmanned surface vehicle group consisting of multiple unmanned surface vehicles, especially the consistency cooperative control, is an important research field of unmanned surface vehicles. However, most of the current research on the consistency method of unmanned surface vehicle groups is based on the assumption that the unmanned surface vehicle dynamics model has an accurate understanding, but ignores the nonlinearity, uncertainty and time-varying nature of the unmanned surface vehicle dynamics.

[0003] Although there are some useful event-triggered methods for cooperative mission execution of UUVs, they all assume that the dynamic model of the UUVs is available and accurate, and the communication resources of the UUVs cannot be guaranteed in the prior art. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the problem in the prior art that the dynamic model of the unmanned surface vehicle is assumed to be available and accurate, and the communication resources of the unmanned surface vehicle are limited.

[0005] In order to solve the above technical problems, the present invention provides a method for tracking and controlling a group of unmanned surface vehicles, comprising:

[0006] Step S1: taking a plurality of unmanned surface vehicles as a multi-agent system, and establishing a multi-agent system input-output model according to the multi-agent system;

[0007] Step S2: establishing a heading control subsystem model according to the heading angle, angular velocity and rudder angle of the unmanned surface vehicle;

[0008] Step S3: introducing a dynamic event trigger mechanism into the communication of the heading control subsystem model;

[0009] Step S4: combining the multi-agent system input-output model, the heading control sub-model, and the dynamic event triggering mechanism to establish a differential dynamic event triggered model-free adaptive controller;

[0010] Step S5: performing consistency tracking control on the multi-agent system according to a model-free adaptive controller triggered by the differential dynamic event.

[0011] In one embodiment of the present invention, in step S1, the plurality of unmanned surface vehicles are used as a multi-agent system, and a multi-agent system input-output model is established according to the multi-agent system. The method includes:

[0012] The multiple unmanned surface vehicles are used as a multi-agent system, which includes multiple agents i. The input and output of agent i are constructed and used as the input and output model of the multi-agent system. The formula is:

[0013]

[0014] Among them, u i (k) and y i (k) are the input and output of agent i, respectively, and n u and n y are the unknown input and output orders, f i (·) is an unknown nonlinear function.

[0015] In one embodiment of the present invention, formula (1) satisfies the first condition and the second condition, wherein,

[0016] The first condition is: The values ​​of exist and are continuous;

[0017] The second condition is: if Δu i (k) = u i (k)-u i (k-1)≠0 and Δy i (k+1)=y i (k+1)-y i (k), there exists a constant r u ∈R + Satisfy |Δy i (k+1)|≤r u |Δu i (k)|.

[0018] In one embodiment of the present invention, for formula (1) that satisfies the first condition and the second condition, there exists a time-varying variable |φ of a pseudo partial derivative i (k)∣≤r φ , r φ ∈R + , which satisfies:

[0019] Δy i (k+1)=φ i (k)Δu i (k) (2).

[0020] In one embodiment of the present invention, in step S2, a heading control subsystem model is established according to the heading angle, angular velocity, and rudder angle of the unmanned surface vehicle, and the formula is:

[0021]

[0022] Among them, θ i (k), r i (k),δ i (k) are heading angle, angular velocity, and rudder angle, respectively. The heading angle θ i (k) as output y i (k), the rudder angle δ i (k) As input u i (k), T s represents the sampling period, T and K are unknown control coefficients.

[0023] In one embodiment of the present invention, the dynamic event triggering mechanism formula in step S3 is:

[0024] k i+1 = inf{k∈Z|k>k i ,Γ i (k)<0} (4)

[0025] In which, inf{} represents the smallest integer that satisfies the conditions in {}, k i represents the most recent triggering time, k i+1 For the next triggering moment; Where v and w are first and second normal numbers, ξ i (k) represents the combined measurement error of agent i at time k, ξ i (k i ) represents k i At time t, the combined measurement error of agent i is, is a dynamic variable, defined as is a constant and

[0026] In one embodiment of the present invention, in step S4, the multi-agent system input-output model, the heading control sub-model, and the dynamic event triggering mechanism are combined to establish a differential dynamic event-triggered model-free adaptive controller, and the formula is:

[0027]

[0028]

[0029] like or |Δu i (k-1)|≤ε or

[0030] in, 0<η<1,μ>0,k r >0,ε=10 -3 ;Q i (k) is the indicator of event triggering. If the event is triggered, Q i (k) = 1; otherwise Q i (k)=0.

[0031] In order to solve the above technical problems, the present invention provides a unmanned surface vehicle group consistency tracking control system, comprising:

[0032] The first building module is used to treat the multiple unmanned surface vehicles as a multi-agent system and establish a multi-agent system input and output model according to the multi-agent system;

[0033] The second building block is used to establish a heading control subsystem model according to the heading angle, angular velocity and rudder angle of the unmanned surface vehicle;

[0034] An introduction module: used for introducing a dynamic event trigger mechanism into the communication of the heading control subsystem model;

[0035] The third building block is used to combine the multi-agent system input-output model, the heading control sub-model, and the dynamic event triggering mechanism to establish a differential dynamic event-triggered model-free adaptive controller;

[0036] Tracking control module: performs consistency tracking control on the multi-agent system according to a model-free adaptive controller triggered by the differential dynamic event.

[0037] In order to solve the above technical problems, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the above-mentioned unmanned surface vehicle group consistency tracking control method are implemented.

[0038] In order to solve the above technical problems, the present invention 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 above-mentioned unmanned surface vehicle group consistency tracking control method are implemented.

[0039] The above technical solution of the present invention has the following advantages compared with the prior art:

[0040] The present invention effectively solves the problem of limited communication resources of unmanned surface vehicles and unknown dynamic models of unmanned surface vehicles, so as to realize the model-free adaptive heading consistency tracking task triggered by dynamic events;

[0041] The present invention only uses the input and output data of the controlled system to establish a compact dynamic linearization model (the compact dynamic linearization model is obtained by using the pseudo-partial derivative technology from the input and output model of the multi-agent system); the present invention designs a dynamic event triggering mechanism to further reduce the use of communication resources; the present invention designs a differential dynamic event-triggered model-free adaptive controller to implement a heading consistency tracking control method, eliminating the requirement that the input and output gains must be monotonically increasing or decreasing;

[0042] The method of the invention is simple and practical, and can be easily promoted on a large scale in practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0044] Figure 1 is a flow chart of the method of the present invention;

[0045] Figure 2 2 is a schematic diagram of the principle of a method for controlling the consistency tracking of an unmanned surface vehicle group according to an embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of the communication topology of an unmanned surface vehicle group in an embodiment of the present invention;

[0047] Figure 4 is a schematic diagram of the heading angle of an unmanned surface vehicle having a steady trajectory in a method for consistent tracking control of an unmanned surface vehicle group in an embodiment of the present invention;

[0048] Figure 5 It is a schematic diagram of the heading angle of an unmanned surface vehicle group with a constant trajectory controlled by an existing static event triggering method;

[0049] Figure 6 is a schematic diagram of trigger rates under different trigger mechanisms of an unmanned surface vehicle group in an embodiment of the present invention;

[0050] Figure 7 is a schematic diagram of the heading angle of the unmanned surface vehicle with a time-varying trajectory in the unmanned surface vehicle group consistency tracking control method in an embodiment of the present invention;

[0051] Figure 8 is a schematic diagram of output of dynamic variables of an unmanned surface vehicle group with time-varying trajectories under a dynamic event triggering mechanism in an embodiment of the present invention;

[0052] Fig. 9 It is a schematic diagram of event triggering intervals of an unmanned surface vehicle group with time-varying trajectories under a dynamic event triggering mechanism in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0054] Embodiment 1

[0055] Reference Figure 1 The present invention relates to a method for consistent tracking control of an unmanned surface vehicle group, comprising:

[0056] Step S1: taking a plurality of unmanned surface vehicles as a multi-agent system, and establishing a multi-agent system input-output model according to the multi-agent system; wherein the plurality of unmanned surface vehicles constitute an unmanned surface vehicle group;

[0057] Step S2: establishing a heading control subsystem model according to the heading angle, angular velocity and rudder angle of the unmanned surface vehicle;

[0058] Step S3: introducing a dynamic event trigger mechanism into the communication of the heading control subsystem model;

[0059] Step S4: combining the multi-agent system input-output model, the heading control sub-model, and the dynamic event triggering mechanism to establish a differential dynamic event triggered model-free adaptive controller;

[0060] Step S5: Perform consistency tracking control on the multi-agent system model according to the model-free adaptive controller triggered by the differential dynamic event.

[0061] The following is a detailed introduction to this embodiment:

[0062] Model-free adaptive control is a data-driven control method. Due to its simple structure, strong robustness and easy operation, the model-free adaptive control method has been widely used in many fields, such as unmanned helicopters, fixed-wing unmanned aerial vehicles and precision machine tools. Therefore, this embodiment introduces model-free adaptive control in unmanned surface vehicles. In addition, the event trigger mechanism is a practical strategy to reduce the communication burden. As a lightweight device, the communication bandwidth and computing resources of unmanned surface vehicles are very limited. Therefore, the event trigger mechanism can be adopted to design the controller of the unmanned surface vehicle to reduce the communication and computing burden and achieve resource-efficient control.

[0063] The present embodiment is as follows:

[0064] Step S1: In this embodiment, multiple unmanned surface vehicles are regarded as a multi-agent system (including N agents and a virtual leader 0). Considering that the N agents i are discrete-time nonlinear systems, the multi-agent system is established as a multi-agent system input-output model according to graph theory.

[0065] Step S2: Establish a heading control subsystem model based on the characteristics of the heading angle, angular velocity, and rudder angle of the unmanned surface vehicle.

[0066] Step S3: Introduce a dynamic event trigger mechanism into the communication of the heading control subsystem model in step S2, design a trigger threshold adaptive law based on the trigger error, and make the threshold change dynamically to decide whether to transmit input and output data.

[0067] Step S4: Combine the multi-agent system input-output model of step S1, the heading control sub-model of step S2, and the dynamic event triggering mechanism of step S3 to establish a differential dynamic event-triggered model-free adaptive controller.

[0068] Step S5: Perform consistency tracking control on the multi-agent system through a model-free adaptive controller triggered by the differential dynamic event.

[0069] The graph theory in step S1 is as follows: For N agents and a virtual leader 0, an augmented matrix is ​​used to represent in V={1,2,…,N}, A=[a ij ]∈R N×N denote the node set, edge set and weighted adjacency matrix respectively. In addition, the neighboring set of agent i is represented by N i , the Laplace matrix is ​​calculated as L = DA, where D = diag{d1,…,d N}, is the in-degree matrix. The connection relationship between the virtual leader 0 and the followers is described by the matrix B = diag{b1,…,b N}, where if agent i is directly connected to virtual leader 0, then b i =1, otherwise, b i =0.

[0070] Step S1: Considering that N agents i are discrete-time nonlinear systems, the input and output of agent i are established as the input and output model of the multi-agent system. The formula is as follows:

[0071]

[0072] Among them, u i (k) and yi (k) are the input and output of agent i, respectively, and n u and n y are the unknown input and output orders, f i (·) is an unknown nonlinear function. In addition, formula (1) should satisfy the first and second conditions: 1. The first condition is: The value of exists and is continuous; 2. The second condition is: if Δu i (k) = u i (k)-u i (k-1)≠0 and Δy i (k+1)=y i (k+1)-y i (k), there exists a constant r u ∈R + Satisfy |Δy i (k+1)|≤r u |Δu i (k)|.

[0073] It should be noted that the virtual leader 0 in the multi-agent system does not use the multi-agent system input and output model. In short, the virtual leader 0 is actually a known target trajectory.

[0074] Then for formula (1) that satisfies the first and second conditions above, there exists a time-varying variable called pseudo partial derivative |φ i (k)∣≤r φ , r φ ∈R + , we get the compact dynamic linearization model of the multi-agent system input-output model, the formula is:

[0075] Δy i (k+1)=φ i (k)Δu i (k) (2)

[0076] Step S2: Establish the heading control subsystem model of the unmanned surface vehicle:

[0077]

[0078] Among them, θ i (k), r i (k), δ i (k) are the heading angle (i.e., output, y i (k)), angular velocity and rudder angle (i.e., input, u i (k)), and T s represents the sampling period, T and K are unknown control coefficients.

[0079] Step S3: Establishing a dynamic event triggering mechanism for the heading control subsystem model, the mechanism includes:

[0080] k i+1 = inf{k∈Z|k>k i ,Γ k (k)<0} (4)

[0081] In which, inf{} represents the smallest integer that satisfies the conditions in {}, k i represents the most recent triggering time, k i+1 For the next triggering moment; Where v and e are the first and second normal numbers, ξ i (k) represents the combined measurement error of agent i at time k and ξ i (k i ) indicates k i At time t, the combined measurement error of agent i and is a dynamic variable, defined as is a constant and

[0082] For any untriggered moment, if exist satisfy:

[0083] Step S4: According to the multi-agent system input-output model of step S1, the heading control sub-model of step S2 (which can represent the characteristics of the unmanned surface vehicle), and the dynamic event triggering mechanism of step S3, the differential dynamic event-triggered model-free adaptive heading consistency controller of the unmanned surface vehicle can be expressed as:

[0084]

[0085]

[0086]

[0087] like or |Δu i (k-1)|≤ε or

[0088] in 0<η<1,μ>0,k r >0,ε=10 -3 .Qi (k) is the indicator of event triggering. If the event is triggered, Q i (k) = 1; otherwise, Q i (k)=0.

[0089] See also Figure 2 , which represents the principle diagram of the unmanned surface vehicle group consistency tracking control method (i.e., the model-free adaptive heading consistency method triggered by dynamic events), mainly including sensor i, controller i, event trigger generator i, zero-order holder (ZOH) i, and actuator i. During the event triggering process, controller i can receive data from the communication network and update the input, i.e., u i (k i )=u i (k), where k i Indicates the time when the event is triggered, otherwise, the zero-order holder i will send the data of the last event triggering time to the actuator i.

[0090] Specifically, Figure 2 In the example, sensor i is mainly used to collect the heading angle y of unmanned surface vehicle i (i.e., agent i) i (k), combined with the virtual leader’s y d (k) and y of neighboring agent j j (k) is calculated to obtain ξ i (k),ξ i (k) needs to be transmitted to controller i through the communication network, specifically whether ξ i (k) The transmission to controller i needs to be determined by event trigger generator i (i.e., the dynamic event trigger mechanism of this embodiment): (1) If controller i receives ξ i (k), then controller i has an effect on ξ i (k) is processed to obtain u i (k), zero-order holder (ZOH) i receives u from controller i i (k), zero-order holder (ZOH) i will u i (k) is sent to executor i, and executor i calculates the value according to u i (k) Control the unmanned surface vehicle i; (2) If the controller i does not receive ξ i (k), the zero-order holder (ZOH)i holds u at the time of the last event trigger i (k i ) is sent to executor i, and executor i executes the task according to u at the time of the last event trigger. i (k i ) to control the unmanned surface vehicle i.

[0091] The connection of the unmanned surface vehicle group is as follows Figure 3As shown, only unmanned surface vehicles (i.e., intelligent agents) 1, 2, 3, and 4 can directly receive data from the virtual leader 0, while unmanned surface vehicles 5, 6, and 7 cannot directly receive data from the virtual leader 0. This embodiment adopts the distributed control, which can not only save energy but also ensure less computing power.

[0092] In the present invention, taking an actual system model as an example, the communication topology of the unmanned surface vehicle is as follows: Figure 3 , the specific model parameters are as follows:

[0093] The initial conditions are set to Γ i (k)=0, the parameters are set as ρ=0.35,μ=10,λ=55,η=0.75,T s =1,T=1.068,K=0.186,k r =100,v=50, w=0.01.

[0094] 1. The expected steady trajectory is set as:

[0095]

[0096] The heading angle of the unmanned surface vehicle group with a constant trajectory under the dynamic event trigger mechanism is as follows Figure 4 As shown in the figure, the heading angle of the unmanned surface vehicle group with a constant trajectory under the static event trigger mechanism is as follows: Figure 5 As shown in Figure 2, the trigger rates of the two trigger mechanisms are as follows: Figure 6 shown.

[0097] 2. The expected time-varying trajectory is set as:

[0098] y d (k) = 80° + 20° sin(5k / 4) (7)

[0099] The heading angle of the unmanned surface vehicle group with time-varying trajectory under the dynamic event trigger mechanism is as follows: Figure 7 As shown in the figure, the dynamic variable output of the unmanned surface vehicle group with time-varying trajectory under the dynamic event trigger mechanism is as follows: Figure 8 As shown in the figure, the trigger interval of the unmanned surface vehicle group with time-varying trajectory under the dynamic event trigger mechanism is as follows: Fig. 9 shown.

[0100] From the above figure, we can see that the designed dynamic event-triggered model-free adaptive heading consistency tracking method can effectively achieve heading consistency tracking under both steady trajectory and time-varying trajectory. Under the dynamic event trigger mechanism, the tracking effect is very similar to the traditional static trigger, and the dynamic event trigger mechanism has a lower trigger rate than the traditional static trigger mechanism, which greatly reduces communication resources and energy consumption.

[0101] Embodiment 2

[0102] This embodiment provides a unmanned surface vehicle group consistency tracking control system, including:

[0103] The first building module is used to treat the multiple unmanned surface vehicles as a multi-agent system and establish a multi-agent system input and output model according to the multi-agent system;

[0104] The second building block is used to establish a heading control subsystem model according to the heading angle, angular velocity and rudder angle of the unmanned surface vehicle;

[0105] An introduction module: used for introducing a dynamic event trigger mechanism into the communication of the heading control subsystem model;

[0106] The third building block is used to combine the multi-agent system input-output model, the heading control sub-model, and the dynamic event triggering mechanism to establish a differential dynamic event-triggered model-free adaptive controller;

[0107] Tracking control module: used to perform consistent tracking control on the unmanned surface vehicle system model according to the model-free adaptive controller triggered by the differential dynamic event.

[0108] Embodiment 3

[0109] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the unmanned surface vehicle group consistency tracking control method described in Embodiment 1 are implemented.

[0110] Embodiment 4

[0111] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the unmanned surface vehicle group consistency tracking control method described in Embodiment 1 are implemented.

[0112] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0113] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0116] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0117] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A method for consistent tracking control of an unmanned surface vehicle group, characterized in that: include: Step S1: taking a plurality of unmanned surface vehicles as a multi-agent system, and establishing a multi-agent system input-output model according to the multi-agent system; Step S2: establishing a heading control subsystem model according to the heading angle, angular velocity and rudder angle of the unmanned surface vehicle; Step S3: introducing a dynamic event trigger mechanism into the communication of the heading control subsystem model; Step S4: Combine the multi-agent system input-output model, the heading control sub-model, and the dynamic event triggering mechanism to establish a differential dynamic event triggered model-free adaptive controller, the formula is: （5）； ； ； ； in, ; is an indicator of event triggering. If an event is triggered, then ;otherwise ; and are the input and output of agent i respectively; the heading angle As output , set the rudder angle As input ; Time-varying variables of pseudopartial derivatives , ; express At time t, the combined measurement error of agent i; Step S5: performing consistency tracking control on the multi-agent system according to a model-free adaptive controller triggered by the differential dynamic event.

2. The unmanned surface vehicle group consistency tracking control method according to claim 1, characterized in that: In step S1, the plurality of unmanned surface vehicles are used as a multi-agent system, and a multi-agent system input-output model is established according to the multi-agent system. The method includes: The multiple unmanned surface vehicles are used as a multi-agent system, which includes multiple agents i. The input and output of agent i are constructed and used as the input and output model of the multi-agent system. The formula is: （1）； in, and are the input and output of agent i, respectively, and and are the unknown orders of input and output, respectively, is an unknown nonlinear function.

3. The unmanned surface vehicle group consistency tracking control method according to claim 2, characterized in that: Formula (1) satisfies the first and second conditions, where The first condition is: The values ​​of exist and are continuous; The second condition is: and , there is a constant satisfy .

4. The unmanned surface vehicle group consistency tracking control method according to claim 3, characterized in that: For formula (1) that satisfies the first and second conditions, there exists a time-varying variable of the pseudo partial derivative , , we get the compact dynamic linearization model of the multi-agent system input-output model, the formula is: （2）。 5. The unmanned surface vehicle group consistency tracking control method according to claim 4, characterized in that: In step S2, a heading control subsystem model is established according to the heading angle, angular velocity, and rudder angle of the unmanned surface vehicle, and the formula is: （3）； in, , , They are heading angle, angular velocity, and rudder angle. As output , set the rudder angle As input , represents the sampling period, and is the unknown control coefficient.

6. The unmanned surface vehicle group consistency tracking control method according to claim 5, characterized in that: The dynamic event triggering mechanism formula in step S3 is: （4）； in, Express satisfaction The smallest integer in the condition, Indicates the most recent triggering time, For the next triggering moment; ,in is a first and second normal number, , express At time t, the combined measurement error of agent i; express At time t, the combined measurement error of agent i; is a dynamic variable, defined as , is a constant and .

7. An unmanned surface vehicle group consistency tracking control system, used to implement the unmanned surface vehicle group consistency tracking control method according to any one of claims 1 to 6, characterized in that: include: The first building module is used to treat the multiple unmanned surface vehicles as a multi-agent system and establish a multi-agent system input and output model according to the multi-agent system; The second building block is used to establish a heading control subsystem model according to the heading angle, angular velocity and rudder angle of the unmanned surface vehicle; An introduction module: used for introducing a dynamic event trigger mechanism into the communication of the heading control subsystem model; The third building block is used to combine the multi-agent system input-output model, the heading control sub-model, and the dynamic event triggering mechanism to establish a differential dynamic event-triggered model-free adaptive controller; Tracking control module: used to perform consistency tracking control on the multi-agent system according to a model-free adaptive controller triggered by the differential dynamic event.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the unmanned surface vehicle group consistency tracking control method as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the unmanned surface vehicle group consistency tracking control method as described in any one of claims 1 to 6 are implemented.

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