A heterogeneous AUV cluster consistency control method, device, equipment and medium

Abstract

The present invention relates to a heterogeneous AUV cluster consistency control method, device, equipment and medium, belonging to the field of heterogeneous AUV cluster control technology, wherein the method comprises setting a consistency control protocol of a heterogeneous AUV group under weak communication conditions according to sufficient and necessary consistency conditions; obtaining a target gain matrix of the heterogeneous AUV group according to a preset gain matrix and a consistency control protocol, and performing consistency control on the heterogeneous AUV group according to the target gain matrix; the present invention sets a consistency control protocol that can enable the heterogeneous AUV group to perform consistency control under weak communication conditions through sufficient and necessary consistency conditions, and the consistency control protocol can maintain the stability of communication, and further, when the heterogeneous AUV group is consistency controlled by the preset gain matrix and the consistency control protocol, there will be no problem of information transmission delay, loss or error, thereby improving the collaborative performance and stability of the heterogeneous AUV cluster.

Description

Technical Field

[0001] The present invention relates to the technical field of heterogeneous AUV cluster control, and in particular to a heterogeneous AUV cluster consistency control method, device, equipment and medium. Background Art

[0002] In the field of marine engineering and scientific research, the collaborative cluster control technology of multiple autonomous underwater vehicles (AUVs) has attracted widespread attention due to its significant advantages in improving operational efficiency and reducing energy consumption. AUV groups use their distributed intelligence and collective collaboration capabilities to demonstrate excellent performance in performing tasks such as marine resource exploration, seabed facility maintenance, environmental monitoring, and scientific research, especially in vast or complex marine environments. However, the limitations of underwater communications, especially the characteristics of rapid signal attenuation, limited transmission distance, and susceptibility to interference from multiple factors, greatly limit the effectiveness and reliability of AUV group collaborative operations. Traditional heterogeneous AUV cluster consistency control methods often rely on stable communication networks to achieve consistent motion between AUVs through information exchange and collaborative control. However, under weak communication conditions, the instability and limitations of communication can lead to delayed, lost, or erroneous information transmission, affecting the collaborative performance and stability of the AUV cluster.

[0003] Therefore, it is urgent to propose a heterogeneous AUV cluster consistency control method, device, equipment and medium to solve the technical problems existing in the prior art that under weak communication conditions, the instability and limitation of communication will lead to information transmission delay, loss or error, affecting the collaborative performance and stability of the heterogeneous AUV cluster. Summary of the invention

[0004] In view of this, it is necessary to provide a heterogeneous AUV cluster consistency control method, device, equipment and medium to solve the technical problems existing in the prior art that under weak communication conditions, the instability and limitation of communication will lead to information transmission delay, loss or error, affecting the collaborative performance and stability of the heterogeneous AUV cluster.

[0005] In order to solve the above problems, the present invention provides a heterogeneous AUV cluster consistency control method, comprising:

[0006] Build heterogeneous AUV groups;

[0007] According to the heterogeneous AUV group, necessary and sufficient conditions for consistency are obtained;

[0008] According to the necessary and sufficient conditions for consistency, a consistency control protocol for the heterogeneous AUV group under weak communication conditions is set;

[0009] According to the preset gain matrix and the consistency control protocol, a target gain matrix of the heterogeneous AUV group is obtained, and consistency control is performed on the heterogeneous AUV group according to the target gain matrix.

[0010] In a possible implementation, the building of a heterogeneous AUV group includes:

[0011] Build a standard second-order isomorphic system for AUVs and obtain basic data of multiple AUVs;

[0012] The basic data of each AUV is processed according to the standard second-order homogeneous system to obtain a heterogeneous AUV group.

[0013] In a possible implementation, obtaining necessary and sufficient conditions for consistency according to the heterogeneous AUV group includes:

[0014] Converting the heterogeneous AUV group to obtain a homogeneous AUV group;

[0015] The homogeneous AUV group is analyzed based on the linear matrix inequality technology to obtain the necessary and sufficient conditions for consistency.

[0016] In a possible implementation, the consistency control protocol of the heterogeneous AUV group under weak communication conditions is set according to the necessary and sufficient conditions for consistency, including:

[0017] Determining a pilot boat and at least one follower boat according to the heterogeneous AUV group, and setting a communication structure between the pilot boats;

[0018] Determining, according to the communication structure, communication conditions that the pilot boats satisfy when the heterogeneous AUV group is moving;

[0019] According to the communication conditions and the necessary and sufficient conditions for consistency, a consistency control protocol for the heterogeneous AUV group under weak communication conditions is set.

[0020] In a possible implementation, obtaining the target gain matrix of the heterogeneous AUV group according to the preset gain matrix and the consistency control protocol includes:

[0021] According to the consistency control protocol and the preset gain matrix, an initial gain matrix of the heterogeneous AUV group is obtained;

[0022] Verifying the consistency control protocol and the preset gain matrix based on the Riccati equation method to obtain a verification result;

[0023] When the verification result meets the preset condition, the initial gain matrix is ​​determined to be the target gain matrix.

[0024] In a possible implementation, the construction of a standard second-order isomorphic system of an AUV includes:

[0025] Taking the center of gravity of the AUV as the origin of the carrier coordinate system, establishing the carrier coordinate system and the fixed coordinate system, and establishing the motion coordinate system according to the motion process of the AUV in the carrier coordinate system;

[0026] Constructing a six-degree-of-freedom motion model of the AUV according to the carrier coordinate system and the fixed coordinate system;

[0027] The six-degree-of-freedom motion model is transformed according to the motion coordinate system and the fixed coordinate system to obtain a dynamic mathematical model;

[0028] The dynamic mathematical model is transformed based on the hull parallel coordinate method to obtain a linear state space model;

[0029] The linear state space model is linearly transformed to obtain a standard second-order isomorphic system.

[0030] In a possible implementation, the consistency control protocol is specifically:

[0031]

[0032] In the formula, Indicates indivual AUV , Indicates that the pilot boat is t The control function of the moment, Indicates following boat exist t The control function of the moment, and represents the dimensionally matched gain matrix, The status of the pilot boat. Indicated in Moment AUVs The reference motion state, When it is on, it means that there is communication between the AUV and the pilot boat. When the signal is on, it means that there is no communication with the pilot boat. is an element in the system adjacency matrix, is the communication delay, , is a known positive constant.

[0033] On the other hand, the present invention also provides a heterogeneous AUV cluster consistency control device, comprising:

[0034] Group building module, used to build heterogeneous AUV groups;

[0035] A condition setting module, used for obtaining necessary and sufficient conditions for consistency according to the heterogeneous AUV group;

[0036] A protocol setting module, used to set the consistency control protocol of the heterogeneous AUV group under weak communication conditions according to the necessary and sufficient conditions for consistency;

[0037] The consistency control module is used to obtain a target gain matrix of the heterogeneous AUV group according to a preset gain matrix and the consistency control protocol, and perform consistency control on the heterogeneous AUV group according to the target gain matrix.

[0038] On the other hand, an embodiment of the present invention discloses an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, each step of the above-mentioned heterogeneous AUV cluster consistency control method embodiment is implemented.

[0039] On the other hand, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various steps of the above-mentioned heterogeneous AUV cluster consistency control method embodiment are implemented.

[0040] The beneficial effects of the present invention are: constructing a heterogeneous AUV group; obtaining necessary and sufficient conditions for consistency based on the heterogeneous AUV group; setting a consistency control protocol for the heterogeneous AUV group under weak communication conditions based on the necessary and sufficient conditions for consistency; obtaining a target gain matrix for the heterogeneous AUV group based on a preset gain matrix and a consistency control protocol, and performing consistency control on the heterogeneous AUV group based on the target gain matrix; the present invention sets a consistency control protocol that can enable the heterogeneous AUV group to perform consistency control under weak communication conditions through the necessary and sufficient conditions for consistency, and the consistency control protocol can maintain the stability of communication, and further, when the heterogeneous AUV group is consistency controlled through the preset gain matrix and the consistency control protocol, there will be no problems of information transmission delay, loss or error, thereby improving the collaborative performance and stability of the heterogeneous AUV cluster. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic flow chart of an embodiment of a heterogeneous AUV cluster consistency control method provided by the present invention;

[0042] Figure 2 A schematic flow chart of an embodiment of a standard second-order isomorphic system provided by the present invention;

[0043] Figure 3 For the present invention Figure 1 A schematic flow chart of an embodiment of step S103;

[0044] Figure 4 A schematic diagram of the structure of an embodiment of a communication topology diagram provided by the present invention;

[0045] Figure 5 A schematic diagram of the structure of an embodiment of a heterogeneous AUV cluster consistency control device provided by the present invention;

[0046] Figure 6 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0047] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0048] like Figure 1 As shown, a specific embodiment of the present invention discloses a heterogeneous AUV cluster consistency control method, including:

[0049] S101, constructing a heterogeneous AUV group;

[0050] S102, obtaining necessary and sufficient conditions for consistency according to the heterogeneous AUV group;

[0051] S103. According to the necessary and sufficient conditions for consistency, a consistency control protocol for a heterogeneous AUV group under weak communication conditions is set;

[0052] S104: Obtain a target gain matrix of the heterogeneous AUV group according to a preset gain matrix and a consistency control protocol, and perform consistency control on the heterogeneous AUV group according to the target gain matrix.

[0053] It should be understood that it can be applied to resource exploration, marine environment monitoring, underwater search and rescue and other fields, and can also build a variety of data models, such as AUV models and linear state space models, and the AUV model can be built through software.

[0054] In a specific embodiment of the present invention, necessary and sufficient conditions for consistency and a consistency control protocol can be constructed according to actual conditions. The consistency control protocol can be a protocol set up considering communication time delays, wherein an AUV model can be constructed by software, and then the basic data of each AUV can be imported into the AUV model, and then a linear state space model of each AUV can be obtained, so that a heterogeneous AUV group can be formed, and then the necessary and sufficient conditions for consistency can be obtained based on the heterogeneous AUV group, and then based on the necessary and sufficient conditions for consistency, a consistency control protocol for the heterogeneous AUV group under weak communication conditions is set, and then each AUV in the heterogeneous AUV group can be consistency controlled according to the consistency control protocol.

[0055] Compared with the prior art, the present embodiment provides the construction of a heterogeneous AUV group; according to the heterogeneous AUV group, a necessary and sufficient condition for consistency is obtained; according to the necessary and sufficient condition for consistency, a consistency control protocol for the heterogeneous AUV group under weak communication conditions is set; according to a preset gain matrix and a consistency control protocol, a target gain matrix for the heterogeneous AUV group is obtained, and consistency control is performed on the heterogeneous AUV group according to the target gain matrix; the present invention sets a consistency control protocol that can enable consistency control of the heterogeneous AUV group under weak communication conditions through the necessary and sufficient condition for consistency, and the consistency control protocol can maintain the stability of communication, and further, when the heterogeneous AUV group is consistency controlled by the preset gain matrix and the consistency control protocol, there will be no problems of information transmission delay, loss or error, thereby improving the collaborative performance and stability of the heterogeneous AUV cluster.

[0056] In some embodiments of the present invention, step S101 includes:

[0057] Build a standard second-order isomorphic system for AUVs and obtain basic data of multiple AUVs;

[0058] The basic data of each AUV is processed according to the standard second-order homogeneous system to obtain a heterogeneous AUV group.

[0059] In a specific embodiment of the present invention, a standard second-order isomorphic system of AUVs can be constructed, which can be specifically set according to actual conditions, and the embodiment of the present invention is not limited here. The basic data can be real-time data of the AUV, or historical data stored historically, which can be specifically set according to actual conditions, and the embodiment of the present invention is not limited here. Then, the basic data of each AUV can be brought into the standard second-order isomorphic system for processing, and a heterogeneous AUV group can be obtained.

[0060] In some embodiments of the present invention, Figure 2 As shown, the standard second-order isomorphic system of AUV is constructed, including:

[0061] S201, taking the center of gravity of the AUV as the origin of the carrier coordinate system, establishing the carrier coordinate system and the fixed coordinate system, and establishing the motion coordinate system according to the motion process of the AUV in the carrier coordinate system;

[0062] S202, constructing a six-degree-of-freedom motion model of the AUV according to the carrier coordinate system and the fixed coordinate system;

[0063] S203, transforming the six-degree-of-freedom motion model according to the motion coordinate system and the fixed coordinate system to obtain a dynamic mathematical model;

[0064] S204, transforming the dynamic mathematical model based on the hull parallel coordinate method to obtain a linear state space model;

[0065] S205. Perform linear transformation on the linear state space model to obtain a standard second-order isomorphic system.

[0066] In a specific embodiment of the present invention, the center of gravity of the AUV can be selected as the origin of the carrier coordinate system to establish the carrier coordinate system and the fixed coordinate system. The motion coordinate system can also be established according to the motion process of the AUV in the carrier coordinate system, so that the six-degree-of-freedom motion model of the AUV can be obtained according to the carrier coordinate system and the fixed coordinate system, as shown in formula (1):

[0067] (1)

[0068] In the formula, is the spatial position and attitude of the AUV in a fixed coordinate system, are the linear velocity and angular velocity of the AUV in the motion coordinate system, is the rotation transformation matrix from the moving coordinate system to the fixed coordinate system, is the inertia matrix of the system (including the additional mass), is the Coriolis force matrix (including the additional mass), is the damping matrix, are the gravity / buoyancy force and the torque vector, are thrust and torque vectors, External interference and internal disturbance.

[0069] Considering the actual application of engineering, the mathematical model of AUV has nonlinear strong coupling characteristics, which greatly increases the difficulty of designing the corresponding motion controller. Here, a simplified model suitable for the study of AUV control algorithm is designed, but it can still describe the basic characteristics of the system. The nonlinear model is converted into a linear system model using the Vessel Parallel Coordinates (VPC) method. VPC assumes and This is an acceptable approximation for a stable AUV. The dynamic mathematical model can be obtained as formula (2):

[0070] (2)

[0071] in, ,

[0072] In the formula, is the rotation matrix in the heading direction. The VPC coordinate system can be defined as shown in formula (3):

[0073] (3)

[0074] Assume that the speed of the AUV during stable navigation is , when the steering angular velocity is very small, that is , formula (4) can be further transformed into The linear equation is:

[0075] (4)

[0076] Since the AUV is sailing at a low speed, it can be seen that when the AUV is sailing steadily , combined with formula (1) and ignoring external disturbances, the linear state space model of AUV can be obtained as shown in formula (5):

[0077] (5)

[0078] In the formula, is the coordinate system of VP. is the linear velocity and angular velocity of the AUV in the motion coordinate system. Assume that the speed of the AUV during stable navigation is , when the steering angular velocity is very small, it can be considered . is the invariant set of the dynamic system. is the damping matrix, are the gravity / buoyancy force and the torque vector, are the thrust and torque vectors.

[0079] Use standard form , the AUV motion equation can be transformed into a linear state space represented by a fixed coordinate system. The linear standard second-order model of the standard second-order isomorphic system is shown in formula (6):

[0080] (6)

[0081] The control system output is as shown in formula (7):

[0082] (7)

[0083] In the formula, , Indicates the AUV number, Represents the leading boat, whose motion is not affected by the following boat. is the state variable of AUV, is the control input, To measure the output, represents the algebraic Riccati equation, are known system parameters, and for the AUV group, The matrix dimensions are consistent, , .

[0084] Furthermore, after obtaining the above linear state space model, the basic data of each AUV can be linearized to obtain a heterogeneous AUV group; the heterogeneous AUV group considered in the embodiment of the present invention has the same system state dimension but different system parameters.

[0085] In some embodiments of the present invention, step S102 includes:

[0086] Transform the heterogeneous AUV group to obtain a homogeneous AUV group;

[0087] Based on the linear matrix inequality technology, the homogeneous AUV group is analyzed and the necessary and sufficient conditions for consistency are obtained.

[0088] In a specific embodiment of the present invention, for a heterogeneous AUV group, the heterogeneous AUV group is converted into a homogeneous AUV group, and then the consistency protocol of the heterogeneous AUV group is designed based on the consistency concept of the homogeneous system, wherein the heterogeneous AUV system conversion equation is shown in formula (8):

[0089] (8)

[0090] In the formula, is the transfer matrix, , from the AUV motion model, we know that They all have the same structural form as formula (9):

[0091] (9)

[0092] In the formula, is a full row rank matrix.

[0093] exist , satisfying formula (10):

[0094] (10)

[0095] exist , satisfying formula (11):

[0096] (11)

[0097] In the formula, and is the state matrix of the heterogeneous AUV group.

[0098] Located in In a pilot-follower formation composed of heterogeneous AUVs, the pilot boat is the fixed reference point of the formation. The motion state of the heterogeneous AUV group is shown in formulas (12)-(13):

[0099] (12)

[0100] (13)

[0101] In the formula, Moment AUVs The motion state is , Indicates AUV The spatial distance that should be maintained between the AUV and the formation reference point The reference motion state is , the motion state of the pilot boat is .

[0102] Then, each AUV in the heterogeneous AUV group can be transformed by formulas (8)-(13) to obtain a homogeneous AUV group.

[0103] Furthermore, we can use linear matrix inequality techniques to give necessary and sufficient conditions for consistency. This condition only contains four linear matrix inequality constraints: , which can ensure the scalability of the AUV group system, that is, the increase in the number of entities will not increase the complexity of the criterion.

[0104] In some embodiments of the present invention, Figure 3 As shown, step S103 includes:

[0105] S301, determining a pilot boat and at least one follower boat according to a heterogeneous AUV group, and setting a communication structure between the pilot boats;

[0106] S302, determining, according to the communication structure, communication conditions that the pilot boats of the heterogeneous AUV group must satisfy when in motion;

[0107] S303. According to the communication conditions and necessary and sufficient conditions for consistency, a consistency control protocol for the heterogeneous AUV group under weak communication conditions is set.

[0108] In a specific embodiment of the present invention, the communication structure of the heterogeneous AUV cluster is as follows: Figure 4 As shown in the communication topology diagram, the heterogeneous AUV group can include AUV0, AUV1, AUV2, AUV3 and AUV4, the pilot boat is AUV0, and the follower boats are AUV1, AUV2, AUV3 and AUV4. The communication topology between the heterogeneous AUV group includes a spanning tree; the communication between the follower boats is bidirectional. Describe the network topology of the AUV group, vertex set represents the AUV group, the edge set Represents the interaction relationship between them. Divide all AUVs in the system into subgroups, respectively. Each subgroup has a special AUV as the pilot boat, Indicates that other AUVs in the subgroup use Indicates that There is only one AUV in the node, which is the virtual pilot boat. The specific description of the communication structure is shown in formula (14):

[0109] (14)

[0110] In the formula, Indicates pilot boat With other AUVs in the subgroup communication relationship.

[0111] Furthermore, according to the necessary and sufficient conditions for the consistency of heterogeneous AUV clusters, a consistency control protocol for heterogeneous AUV formations with time delay is designed. The specific consistency control protocol is shown in formula (15):

[0112] (15)

[0113] In the formula, Indicates indivual AUV , Indicates that the pilot boat is t The control function of the moment, Indicates following boat exist t The control function of the moment, and represents the dimensionally matched gain matrix, The status of the pilot boat. Indicated in Moment AUVs The reference motion state, When it is on, it means that there is communication between the AUV and the pilot boat. When the signal is on, it means that there is no communication with the pilot boat. is an element in the system adjacency matrix, is the communication delay, , is a known positive constant.

[0114] Then, based on the communication structure, the communication conditions between the pilot boats of the heterogeneous AUV group can be determined. It is assumed that the communication conditions satisfied by the heterogeneous AUV group when moving include: 1) the communication topology between the AUV group includes a spanning tree; 2) the communication between the follower boats is bidirectional. Then the consistency control protocol can be analyzed and processed, specifically:

[0115] use Representation and Action Topology The corresponding Laplace matrix, because the pilot boat does not need to obtain the information of the following boat, so It can be expressed as:

[0116] (16)

[0117] In the formula, Indicates the effect of the pilot boat on the following boat. Represents the interaction between following boats.

[0118] set up , then under the effect of formula (15), the dynamic characteristics of the members of the heterogeneous AUV group system in formula (6) can be described as shown in formula (17):

[0119] (17)

[0120] In the formula, yes The identity matrix of is the Kronecker product, , is an unknown continuous nonlinear function of the system.

[0121] According to the assumed communication condition 2) the communication between the following boats is bidirectional. is symmetric, then there exists an orthogonal matrix , so that formula (18):

[0122] (18)

[0123] In the formula, yes The corresponding diagonal matrix is, yes The characteristic value of .

[0124] According to the assumed communication condition 1), we can know that the action topology Including spanning trees, then from graph theory and The structure can be known ,assumed , then we have formula (19):

[0125] (19)

[0126] In the formula, yes The inverse matrix of yes The transpose of yes of dimensional vector.

[0127] According to graph theory , so formula (20):

[0128] (20)

[0129] Assume formula (21):

[0130] (twenty one)

[0131] In the formula, , is the motion state matrix of the pilot boat The transpose of is the identity matrix, , is a first-order continuously differentiable vector function.

[0132] Then the system formula (17) can be transformed into formulas (22) and (23):

[0133] (twenty two)

[0134] (twenty three)

[0135] In the formula, represents the state space of the pilot boat, Represents the state space of a heterogeneous AUV group.

[0136] Define formulas (24) and (25):

[0137] (twenty four)

[0138] (25)

[0139] According to the following formula (26):

[0140] (26)

[0141] In the formula, is a n-dimensional column vector whose first component is 1 and the rest are 0.

[0142] According to formula (21), we can get formula (27):

[0143] (27)

[0144] From equation (21), equation (24) and equation (25), we can get equation (28):

[0145] (28)

[0146] because is non-singular, so from equations (24) and (25) we can know and is linearly independent. According to equations (27) and (28), equation (17) is consistent if and only if equation (29):

[0147] (29)

[0148] In order to obtain the consistency and consistency criteria, the following Lemma 1 is required:

[0149] Lemma 1: Let is a first-order continuously differentiable vector function, then the following integral inequality (30) holds:

[0150] (30)

[0151] In the formula, , , , is a term derived from the symmetry , M 1 and M 2 They respectively represent two-dimensional vector spaces.

[0152] remember ,in , is with and Unrelated real symmetric matrices, represents taking the real part of a complex number, represents an imaginary number, we can obtain the following Lemma 2.

[0153] Lemma 2: If , represents the imaginary part of the complex number, then we can get The proof is as follows:

[0154] set up is any piecewise continuous scalar function, ,but is also piecewise continuous, and .remember , , is represented as a linear constraint identity matrix of the above form. If , then we can get:

[0155] (31)

[0156] if , then we have:

[0157] (32)

[0158] In the formula , Represents the linear constraint identity matrix of the form above.

[0159] for ,exist So, we can get the identity as shown in formula (33):

[0160] (33)

[0161] For any piecewise continuous nonzero vector of appropriate dimension ,because , , we can know that:

[0162] (34)

[0163] set up , then:

[0164] (35)

[0165] because , so there is ,Right now .

[0166] Using linear matrix inequality techniques, a sufficient condition for consistency is given. This condition only contains four linear matrix inequality constraints , which can ensure the scalability of the AUV group system, that is, the increase in the number of entities will not increase the complexity of the criterion.

[0167] For any , Indicates the impact of communication delay, is a known positive constant; if there exists Real Matrix , , , satisfy:

[0168] (36)

[0169] In the formula, is the subscript of any AUV, and represents the dimensionally matched gain matrix, They are The corresponding diagonal matrix is

[0170] (37)

[0171] In the formula, is the identity matrix, then formula (21) is consistent.

[0172] Proof: First consider the stability of the following subsystem:

[0173] (38)

[0174] In the formula, .

[0175] Based on the decomposition of the real and imaginary parts, the stability of formula (38) is equivalent to the stability of the following system as shown in formula (39):

[0176] (39)

[0177] in, .

[0178] Consider the following Lyapunov-Krasovskii function:

[0179] (40)

[0180] in, (41)

[0181] The solution of formula (39) Taking the derivative, we get:

[0182] (42)

[0183] (43)

[0184] (44)

[0185] in, , , , Indicates the calculated alternative form.

[0186] From Lemma 1, we can get:

[0187] (45)

[0188] From equation (38) to equation (44), we can get:

[0189] (46)

[0190] in, , , Represents a simplified alternative form after calculation.

[0191] According to Schur's lemma, if is feasible, then formula (38) is asymptotically stable.

[0192] From formula (29) and Lemma 2, we can see that if If it is feasible, then formula (17) obtains consistency.

[0193] In some embodiments of the present invention, step S104 includes:

[0194] According to the consistency control protocol and the preset gain matrix, the initial gain matrix of the heterogeneous AUV group is obtained;

[0195] The consistency control protocol and the preset gain matrix are verified based on the Riccati equation method, and the verification results are obtained;

[0196] When the verification result meets the preset condition, the initial gain matrix is ​​determined as the target gain matrix.

[0197] In a specific embodiment of the present invention, by designing a preset gain matrix To adjust the dynamic characteristics of the leader, the target gain matrix Leader-follower consistency can be achieved. The initial gain matrix can be designed under the condition of obtaining leader-follower consistency by using the Riccati equation method. .

[0198] For any , if there exists a positive definite symmetric matrix , And the matrix Satisfies formula (47):

[0199] (47)

[0200] Among them, is the subscript of any AUV, as shown in formula (48):

[0201] (48)

[0202] Then formula (15) can make the heterogeneous AUV group consistent under time lag. And the initial gain matrix .

[0203] Proof: For ,make:

[0204] (49)

[0205] From Schur's lemma, we know that Equivalent to formula (50):

[0206] (50)

[0207] set up , then we can get the following formula (51):

[0208] (51)

[0209] As calculated by formula (52):

[0210] (52)

[0211] set up , then from the above formula we can know that if It works, then Therefore, if If feasible, then formula (15) can make the heterogeneous AUV group consistent under time lag, and at this time the target gain matrix is ​​equal to the initial gain matrix .

[0212] Furthermore, the target gain matrix AUVs in a heterogeneous AUV group are controlled to achieve leader-follower consistency.

[0213] The embodiment of the present invention improves the adaptability of the formation control algorithm to different types and characteristics of AUVs in the group by converting the nonlinear dynamic model of heterogeneous AUVs into a linear second-order integral model, so that the control strategy can more flexibly cope with the heterogeneity within the group; for the problem of underwater communication time delay, an effective control strategy is provided by introducing a time delay model and Lyapunov-Krasovskii function, which can maintain the consistency and stability of the formation in the presence of communication delay.

[0214] In order to better implement the heterogeneous AUV cluster consistency control method in the embodiment of the present invention, based on the heterogeneous AUV cluster consistency control method, the embodiment of the present invention also provides a heterogeneous AUV cluster consistency control device, such as Figure 5 As shown, the heterogeneous AUV cluster consistency control device 500 includes:

[0215] A group construction module 501 is used to construct a heterogeneous AUV group;

[0216] A condition setting module 502 is used to obtain necessary and sufficient conditions for consistency according to the heterogeneous AUV group;

[0217] The protocol setting module 503 is used to set the consistency control protocol of the heterogeneous AUV group under weak communication conditions according to the necessary and sufficient conditions for consistency;

[0218] The consistency control module 504 is used to obtain a target gain matrix of the heterogeneous AUV group according to a preset gain matrix and a consistency control protocol, and perform consistency control on the heterogeneous AUV group according to the target gain matrix.

[0219] The heterogeneous AUV cluster consistency control device 500 provided in the above embodiment can implement the technical solution described in the above heterogeneous AUV cluster consistency control method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above heterogeneous AUV cluster consistency control method embodiment, which will not be repeated here.

[0220] like Figure 6 As shown, the present invention also provides an electronic device 600. The electronic device 600 includes a processor 601, a memory 602 and a display 603. Figure 6 Only some components of the electronic device 600 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0221] In some embodiments, the memory 602 may be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. In other embodiments, the memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the electronic device 600.

[0222] Furthermore, the memory 602 may include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store application software installed in the electronic device 600 and various data.

[0223] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 602, such as the heterogeneous AUV cluster consistency control method of the present invention.

[0224] In some embodiments, the display 603 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 603 is used to display information of the electronic device 600 and to display a visual user interface. The components 601-603 of the electronic device 600 communicate with each other through a system bus.

[0225] In some embodiments of the present invention, when the processor 601 executes the heterogeneous AUV cluster consistency control program in the memory 602, the following steps may be implemented:

[0226] Build heterogeneous AUV groups;

[0227] According to the heterogeneous AUV group, necessary and sufficient conditions for consistency are obtained;

[0228] According to the necessary and sufficient conditions for consistency, a consistency control protocol for heterogeneous AUV groups under weak communication conditions is set;

[0229] According to the preset gain matrix and consistency control protocol, the target gain matrix of the heterogeneous AUV group is obtained, and the consistency control of the heterogeneous AUV group is performed according to the target gain matrix.

[0230] It should be understood that: when the processor 601 executes the heterogeneous AUV cluster consistency control program in the memory 602, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.

[0231] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 600 mentioned, and the electronic device 600 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 600 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0232] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions of the heterogeneous AUV cluster consistency control method provided in the above-mentioned method embodiments can be implemented.

[0233] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0234] The heterogeneous AUV cluster consistency control method and device provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A heterogeneous AUV cluster consistency control method, characterized in that: include: Build heterogeneous AUV groups; According to the heterogeneous AUV group, necessary and sufficient conditions for consistency are obtained; According to the necessary and sufficient conditions for consistency, a consistency control protocol for the heterogeneous AUV group under weak communication conditions is set; According to the preset gain matrix and the consistency control protocol, a target gain matrix of the heterogeneous AUV group is obtained, and consistency control of the heterogeneous AUV group is performed according to the target gain matrix; The necessary and sufficient conditions for consistency are obtained according to the heterogeneous AUV group, including: Converting the nonlinear dynamic model of each heterogeneous AUV in the heterogeneous AUV group into a linear second-order integral model to obtain a homogeneous AUV group; The homogeneous AUV group is analyzed based on the linear matrix inequality technology to obtain the necessary and sufficient conditions for consistency; The consistency control protocol of the heterogeneous AUV group under weak communication conditions is set according to the necessary and sufficient conditions for consistency, including: Determining a pilot boat and at least one follower boat according to the heterogeneous AUV group, and setting a communication structure between the pilot boats; Determining, according to the communication structure, communication conditions that the pilot boats satisfy when the heterogeneous AUV group is moving; According to the communication conditions and the necessary and sufficient conditions for consistency, a consistency control protocol for the heterogeneous AUV group described below is set based on the introduction of a time-delay model under weak communication conditions and constructed in combination with a Lyapunov-Krasovskii function; The consistency control protocol is specifically: In the formula, Indicates indivual AUV , Indicates that the pilot boat is t The control function of the moment, Indicates following boat exist t The control function of the moment, Expressed as a preset gain matrix, Expressed as the target gain matrix, The status of the pilot boat. Indicated in Moment AUVs The reference motion state, When it is on, it means that there is communication between the AUV and the pilot boat. When the signal is on, it means that there is no communication with the pilot boat. is an element in the system adjacency matrix, is the communication delay, , is a known positive constant.

2. The heterogeneous AUV cluster consistency control method according to claim 1 is characterized in that: The construction of a heterogeneous AUV group comprises: Build a standard second-order isomorphic system for AUVs and obtain basic data of multiple AUVs; The basic data of each AUV is processed according to the standard second-order homogeneous system to obtain a heterogeneous AUV group.

3. The heterogeneous AUV cluster consistency control method according to claim 1, characterized in that: The step of obtaining a target gain matrix of the heterogeneous AUV group according to the preset gain matrix and the consistency control protocol includes: According to the consistency control protocol and the preset gain matrix, an initial gain matrix of the heterogeneous AUV group is obtained; Verifying the consistency control protocol and the preset gain matrix based on the Riccati equation method to obtain a verification result; When the verification result meets the preset condition, the initial gain matrix is ​​determined to be the target gain matrix.

4. The heterogeneous AUV cluster consistency control method according to claim 2 is characterized in that: The standard second-order isomorphic system for constructing the AUV includes: Taking the center of gravity of the AUV as the origin of the carrier coordinate system, establishing the carrier coordinate system and the fixed coordinate system, and establishing the motion coordinate system according to the motion process of the AUV in the carrier coordinate system; Constructing a six-degree-of-freedom motion model of the AUV according to the carrier coordinate system and the fixed coordinate system; The six-degree-of-freedom motion model is transformed according to the motion coordinate system and the fixed coordinate system to obtain a dynamic mathematical model; The dynamic mathematical model is transformed based on the hull parallel coordinate method to obtain a linear state space model; The linear state space model is linearly transformed to obtain a standard second-order isomorphic system.

5. A heterogeneous AUV cluster consistency control device, characterized in that: include: Group building module, used to build heterogeneous AUV groups; A condition setting module, used for obtaining necessary and sufficient conditions for consistency according to the heterogeneous AUV group; A protocol setting module, used to set the consistency control protocol of the heterogeneous AUV group under weak communication conditions according to the necessary and sufficient conditions for consistency; A consistency control module, configured to obtain a target gain matrix of the heterogeneous AUV group according to a preset gain matrix and the consistency control protocol, and perform consistency control on the heterogeneous AUV group according to the target gain matrix; The condition setting module is also used to convert the nonlinear dynamic model of each heterogeneous AUV in the heterogeneous AUV group into a linear second-order integral model to obtain a homogeneous AUV group; analyze the homogeneous AUV group based on linear matrix inequality technology to obtain necessary and sufficient conditions for consistency; The protocol setting module is also used to determine a pilot boat and at least one follower boat according to the heterogeneous AUV group, and set a communication structure between the pilot boat and the pilot boat; determine the communication conditions satisfied by the pilot boat and the pilot boat when the heterogeneous AUV group is moving according to the communication structure; and set a consistency control protocol of the heterogeneous AUV group based on the introduction of a time-delay model under weak communication conditions and constructed in combination with a Lyapunov-Krasovskii function according to the communication conditions and the necessary and sufficient conditions for consistency; The consistency control protocol is specifically: In the formula, Indicates indivual AUV , Indicates that the pilot boat is t The control function of the moment, Indicates following boat exist t The control function of the moment, Expressed as a preset gain matrix, Expressed as the target gain matrix, The status of the pilot boat. Indicated in Moment AUVs The reference motion state, When it is on, it means that there is communication between the AUV and the pilot boat. When the signal is on, it means that there is no communication with the pilot boat. is an element in the system adjacency matrix, is the communication delay, , is a known positive constant.

6. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the heterogeneous AUV cluster consistency control method as described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the heterogeneous AUV cluster consistency control method according to any one of claims 1 to 4 are implemented.

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