Multi-unmanned ship periodic dynamic event triggering hunting control method based on estimator

Abstract

The invention discloses a multi-unmanned-ship periodic dynamic event triggering hunting control method based on an estimator, and belongs to the field of hunting control of multi-unmanned-ship. Comprising the following steps: establishing a multi-unmanned ship system model, and acquiring a target speed and a position estimation value by using a target estimator; designing a first controller according to an estimated value obtained by the target estimator and the hunting mathematical model to calculate an expected speed required by the multiple unmanned ships to realize target hunting; and a second controller is designed according to the expected speed calculated by the first controller, the second controller is provided with a periodic dynamic event triggering mechanism, control input is calculated by the second controller, and a control input signal is transmitted to the multi-unmanned ship motion model at the event triggering moment. The periodic dynamic event triggering hunting control method based on the estimator is provided for multiple unmanned ships under the condition that network resources are limited, fluctuation of tracking errors is controlled within a small range, and a key foundation is laid for the fields of ocean monitoring, safety and the like.

Description

Technical Field

[0001] The present application relates to the field of multiple unmanned ship capture control, and in particular to an estimator-based multiple unmanned ship periodic dynamic event triggered capture control method. Background Art

[0002] In the field of modern marine operations and security monitoring, the application of unmanned ship technology is becoming more and more extensive, and its autonomy and flexibility provide new solutions for marine operations. However, due to the complexity and dynamics of the marine environment, how to effectively control the collaborative operation of multiple unmanned ships, especially to achieve the control of the capture of specific targets, has become a technical challenge. Traditional capture control methods often rely on manual operation, which is not only inefficient, but also difficult to cope with rapidly changing marine environments and emergencies. Therefore, it is particularly important to develop an automated control method that can adapt to complex marine environments and achieve the collaborative capture of multiple unmanned ships.

[0003] With the development of control theory and artificial intelligence technology, the control problem of multiple unmanned ship systems has gradually become a research hotspot. The design of the controller is directly related to the stability and response speed of the unmanned ship system, while the periodic dynamic event triggering mechanism can optimize the transmission of control signals and reduce the computing and communication burdens. Designing a solution that reduces the computing burden and achieves fast and accurate capture can provide strong technical support for the fields of marine resource development, maritime search and rescue, and environmental monitoring. Summary of the invention

[0004] The purpose of this application is to provide an estimator-based multi-unmanned ship periodic dynamic event-triggered capture control method to solve the problems of heavy computational burden and increased complexity in related technologies and to achieve fast and accurate capture effects.

[0005] The technical solution adopted by the present invention is as follows:

[0006] According to a first aspect of the present application, a method for controlling periodic dynamic events of multiple unmanned ships triggered by an estimator is provided, comprising:

[0007] Establish a system model of multiple unmanned ships;

[0008] Determine the capture target, and use the target estimator to obtain the target's speed estimation value and position estimation value;

[0009] According to the geometric relationship between the multiple unmanned ships and the target, a mathematical model for capturing the target is established; according to the mathematical model for capturing the target and the target speed estimation value and position estimation value obtained by the target estimator, the first controller is used to calculate the expected speed required for the multiple unmanned ships to achieve target capture;

[0010] According to the desired speed of the multiple unmanned ships obtained by the first controller, the control input of the multiple unmanned ships is calculated by the second controller, and the motion control of the unmanned ships is realized by substituting the control input into the system model of the multiple unmanned ships;

[0011] The second controller is provided with a periodic dynamic event trigger mechanism. The event trigger condition is verified based on the periodic dynamic event trigger mechanism of the second controller, the event trigger time of the control input transmission calculated by the second controller is calculated, and the control input signal is transmitted to the multi-unmanned ship motion model at the event trigger time, so that the multi-unmanned ship system can realize the capture control of the target.

[0012] Furthermore, the system model of multiple unmanned ships includes a multi-unmanned ship dynamic model and a multi-unmanned ship kinematic model; when constructing the multi-unmanned ship kinematic model, the position vector of the unmanned ship in the earth-fixed inertial system is defined, including the horizontal coordinate, the vertical coordinate and the yaw angle; the velocity vector of the unmanned ship in the earth-fixed inertial system is defined, including the longitudinal velocity, the lateral drift velocity and the yaw angular velocity.

[0013] When constructing the multi-unmanned ship dynamics model, definitions include unknown nonlinear functions generated by hydrodynamic effects and low-frequency components of environmental forces such as wind, waves, and currents acting on the unmanned ships, as well as unknown but bounded high-frequency external disturbances caused by high-frequency components of environmental forces, control inputs, longitudinal moments and yaw moments acting on the multi-unmanned ships, etc.

[0014] Furthermore, the target controller enables each unmanned ship to estimate the position information of the target. When designing the target controller, firstly, a target trajectory generated by a nonlinear system is designed according to the specific situation of the nonlinear target in the actual scene. Considering that not all unmanned ships can directly obtain the target information, a communication topology is used to represent the communication between the systems of multiple unmanned ships. The target estimator enables each unmanned ship to estimate the target information, thereby realizing the subsequent roundup control.

[0015] Furthermore, the mathematical model for capturing the target needs to be able to achieve distance maintenance and uniformly spaced surround of the target by multiple unmanned ships.

[0016] Furthermore, the second controller is designed to include a nonlinear robust term for processing high-frequency external disturbances and a neural network weight estimation value and its update law for approximating the nonlinear part of the speed subsystem and the yaw subsystem. Thus, according to the second controller, the control input of the multi-unmanned ship system can be calculated.

[0017] Furthermore, based on the speed error between the expected speed and the actual speed of the multi-unmanned ship and the yaw between the expected yaw speed and the actual yaw speed, a periodic dynamic event triggering mechanism of the second controller is designed to limit the control input signal to be updated to the control signal calculated by the second controller only at a specific moment.

[0018] According to a second aspect of the present application, a periodic dynamic event-triggered capture control device for multiple unmanned ships based on an estimator is provided, which is used to implement the method described in the first aspect. According to a third aspect of the present application, an electronic device is provided, comprising:

[0019] one or more processors;

[0020] A memory for storing one or more programs;

[0021] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in the first aspect.

[0022] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which computer instructions are stored, characterized in that when the instructions are executed by a processor, the steps of the method described in the first aspect are implemented.

[0023] The technical solution of this application has the following beneficial effects:

[0024] The target estimator in the multi-unmanned ship capture control method proposed in this application can effectively handle the dynamic characteristics of nonlinear targets and provide reliable input information for the first controller; the second controller ensures the stability and smoothness of the control process and avoids the occurrence of chattering; by introducing a periodic dynamic event trigger mechanism, the transmission strategy of the control signal is optimized, the communication burden is reduced, and the Zeno phenomenon is avoided. The proposed method not only achieves effective capture of the target, but also ensures the boundedness of the tracking error, and improves the success rate and reliability of the capture task.

[0025] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0027] Figure 1 The present invention is a flowchart of a method for controlling periodic dynamic events of multiple unmanned ships triggered by an estimator according to an exemplary embodiment.

[0028] Figure 2It is a schematic diagram of target capture control of a multi-unmanned ship system according to an embodiment of the present invention.

[0029] Figure 3 Schematic diagram of the error between the actual position horizontal coordinate and the expected position horizontal coordinate and the reference signal time response in an embodiment of the present invention.

[0030] Figure 4 Schematic diagram of the error between the actual position ordinate and the expected position ordinate and the reference signal time response in an embodiment of the present invention.

[0031] Figure 5 Schematic diagram of the error between the actual position yaw angle and the expected yaw angle and the time response of the reference signal thereof in an embodiment of the present invention.

[0032] Figure 6 It is a schematic diagram of the time interval and time response of periodic dynamic event triggering in an embodiment of the present invention.

[0033] Figure 7 The present invention is a block diagram of a device for controlling periodic dynamic events of multiple unmanned ships triggered by estimators according to an exemplary embodiment. DETAILED DESCRIPTION

[0034] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0035] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0036] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.

[0037] Figure 1 is a flow chart of a method for controlling periodic dynamic events of multiple unmanned ships triggered by estimators according to an exemplary embodiment. Figure 1 As shown, the method may include the following steps:

[0038] S1: Establish a system model of multiple unmanned ships, including a dynamic model of multiple unmanned ships and a kinematic model of multiple unmanned ships.

[0039] S2: Determine the capture target, design a target estimator, and use the estimator to obtain the target's speed estimation value and position estimation value.

[0040] S3: It is suggested that the geometric relationship between the multiple unmanned ships and the target be established, a mathematical model for capturing the target be established, and a first controller be designed based on the target speed estimate and position estimate obtained by the target estimator to calculate the expected speed required for the multiple unmanned ships to achieve capture.

[0041] S4: Design a second controller according to the speed information of the multiple unmanned ships obtained by the first controller, which includes a motion controller and a yaw controller, and calculate the control input of the multiple unmanned ships.

[0042] S5: According to the speed error between the expected speed and the actual speed of the multi-unmanned ship and the yaw between the expected yaw speed and the actual yaw speed, a periodic dynamic event trigger mechanism of the second controller is designed, and the event triggering time of the control signal transmission obtained by the first controller is calculated by periodically verifying the event triggering conditions, and the control signal is transmitted at the event triggering time.

[0043] It can be seen from the above embodiments that the present application adopts a capture control method based on a multi-unmanned ship system, by establishing a dynamic and kinematic model of the multi-unmanned ship, combining the target speed and position estimation values ​​obtained by the target estimator, and designing a first controller and a second controller to achieve the capture of the target. In addition, the use of a periodic dynamic event trigger mechanism effectively reduces the computational burden and the burden on the communication channel, and improves the real-time performance and reliability of the system.

[0044] In the specific implementation of S1: a system model of multiple unmanned ships is established, including a dynamic model of multiple unmanned ships and a kinematic model of multiple unmanned ships.

[0045] Among them, the kinematic model of multiple unmanned ships is expressed as:

[0046]

[0047] Where i represents the i-th unmanned ship, i∈{1, 2, ..., N}, and there are N unmanned ships in the system, N≥3. i =[x i ,y i ] T ,[x i ,y i ,φ i ] Trepresents the position vector of the i-th unmanned ship in the earth-fixed inertial system, x i ,y i ,φ i They represent the horizontal coordinate, vertical coordinate and yaw angle of the i-th unmanned ship, and the superscript T represents transposition; v i =R(φ i )[u i , v i ] T represents the velocity vector of the i-th unmanned ship in the earth coordinate system, [u i , v i , r i ] represents the velocity vector of the unmanned ship in the earth-fixed inertial system, u i , v i , r i They represent the longitudinal velocity, lateral drift velocity and yaw angular velocity of the i-th unmanned ship respectively; Represents the rotation matrix of the i-th unmanned ship.

[0048] The dynamic model of multiple unmanned ships is expressed as:

[0049]

[0050] in, represents the unknown nonlinear function generated by the hydrodynamic effect and the low-frequency components of environmental forces such as wind, waves, and current acting on the unmanned ship; f i (v i , r i )=[f u，i (v i , r i ) v，i (v i , r i )] T , f i (v i , r i ) represents the combined force of Coriolis force and centripetal force, f u，i (v i , r i ), f v，i (v i , r i ), f r，i (v i , r i ) represent the Coriolis force, centripetal force and fluid dynamic damping force, respectively. represents the composite conversion of the longitudinal velocity and lateral velocity disturbances to the i-th unmanned ship, R(φ i ) represents the derivative of the rotation matrix of the i-th unmanned ship, de，u d e，v and d e，r They represent the high-frequency external disturbances that affect the longitudinal velocity, lateral drift velocity, and yaw angular velocity of the unmanned ship, including unknown but bounded high-frequency external disturbances caused by the high-frequency components of the environmental forces, and also vibrations from the electromechanical system; represents the conversion amount of the longitudinal torque control input, represents the transformation matrix, m u，i represents the inertia coefficient of the i-th unmanned ship in longitudinal motion, m r，i represents the inertia coefficient of the i-th unmanned ship in yaw motion, τ u，i , τ r，i are the control inputs, representing the longitudinal moment and yaw moment acting on the multi-unmanned ship respectively.

[0051] In the specific implementation of S2: determine the capture target, and use the target estimator to obtain the target's speed estimation value and position estimation value. Specifically, an optional implementation process is as follows:

[0052] According to the specific situation of nonlinear targets in actual scenes, a target trajectory generated by a nonlinear system is designed, and the target position vector p 0 =[x 0 ,y 0 ,φ 0 ] T , where x 0 ,y 0 ,φ 0 They represent the horizontal coordinate, vertical coordinate and yaw angle of the target respectively. is the time derivative of the target position vector p0, which satisfies:

[0053]

[0054] Among them, the function g(.) is a globally defined sufficiently smooth function used to generate the target trajectory.

[0055] Considering that not all unmanned ships can directly obtain information about the target, it is necessary to make assumptions about the communication topology so that each unmanned ship can obtain information about the target. The communication topology can be represented by a graph, where node 0 represents the target, nodes 1 to N represent unmanned ships, and edges represent communication connections between unmanned ships. i j is used to represent the weight of the edge from the ith node to the ith node. If there is a communication connection between the two unmanned ships, then a ij >0, otherwise 0, a ijThe specific value of is set as a known quantity according to the actual situation. It is assumed that the communication topology can be divided into a directed spanning tree with the target as the root, that is, each unmanned ship can obtain the target information from the root node through a directed path.

[0056] The target estimator is designed as follows:

[0057]

[0058]

[0059] Among them, γ is a positive constant, represents the position information of the target estimated by the i-th unmanned ship at time t, The target speed estimate obtained by the i-th unmanned ship at time t can be directly calculated by formula (4).

[0060] The design of the target estimator in the present invention enables each unmanned ship to estimate the target information, thereby realizing subsequent capture control.

[0061] In the specific implementation of S3: a geometric relationship between multiple unmanned ships and the target is established, a mathematical model for capturing the target is established, and the target speed estimation value and position estimation value obtained by the mathematical model for capturing the target and the target estimator (4) are obtained. Design the first controller to calculate the expected speed required for multiple unmanned boats to achieve roundup. Specifically, an optional implementation process is as follows:

[0062] Establish the geometric relationship between multiple unmanned ships and targets, and the relative distance η between the i-th unmanned ship and the target i and the azimuth angle βi are expressed as follows:

[0063]

[0064]

[0065] Among them, x t and t represents the horizontal and vertical coordinates of the moving target in the geodetic coordinate system at time t, x i and i Represents the horizontal and vertical coordinates of the i-th unmanned ship in the geodetic coordinate system.

[0066] Establishing a mathematical model for capturing targets, that is, realizing the capture of targets by multiple unmanned ships requires the following performance:

[0067] (1) Distance maintenance: For a specific distance η d and an arbitrary constant ε 1 > 0, multiple unmanned ships can achieve the following relative distance η between the i-th unmanned ship and the target under controli Requirements:

[0068]

[0069] (2) Uniformly spaced circles: N unmanned ships are required to coordinate and maintain a uniformly spaced circular formation, that is, for any constant ε 2 > 0, the multiple unmanned ships can meet the following requirements for the azimuth difference between the i-th unmanned ship and the j-th unmanned ship under control:

[0070]

[0071] in, represents the actual angular phase β of the i-th unmanned ship i Phase with expected angle The error,

[0072] According to the target position estimate obtained in S2 and the target speed estimate Design the first controller to obtain the desired speed v of multiple unmanned ships d，i , the first controller is as follows:

[0073]

[0074] in, Represents the actual position pi of the i-th unmanned ship and the estimated target position The difference, η d Indicates the preset distance between the drone and the target. 1 >0 is a constant, is a skew symmetric matrix; Represents a collaborative variable, and its specific form is as follows:

[0075]

[0076] Among them, ι 2 is a normal number, represents the desired capture angular velocity.

[0077] According to the designed first controller (9), the expected speed v required for multiple unmanned boats to achieve round-up can be calculated. d，i .

[0078] In the specific implementation of S4: according to the desired speed information of the multiple unmanned ships obtained by the first controller, a second controller is designed, which includes a motion controller and a yaw controller, and the control input of the multiple unmanned ships is calculated.

[0079] Define the speed tracking error as e v，i =vd，i -v i , the yaw tracking error is in It represents the expected yaw angular velocity and is a known quantity.

[0080] The second controller is designed according to the velocity tracking error and yaw tracking error as follows:

[0081]

[0082] Among them, k 1 , k 2 , k 3 and k 4 is a positive constant, k 1 e v，i and k 3 e r，i is the linear feedback term, k 2 tanh(e v，i ) and k 4 tanh(e r，i ) is a nonlinear robust term designed to handle high-frequency external interference, h i 、h r，i They represent the speed radial basis function and yaw radial basis function of the i-th unmanned ship according to the center and width of the neural network respectively; and It is used to introduce the neural network, which represents the estimated value of the neural network weight used by the i-th unmanned ship to approximate the nonlinear part of the speed subsystem and the yaw subsystem, which is calculated by the following update law:

[0083]

[0084]

[0085] Among them, γ v >0 and γ r >0 means learning update rate, h i and h r，i Represents the radial basis function, which is determined by the center vector and width of the neural network corresponding to the i-th unmanned ship.

[0086] Therefore, according to the second controller (13) and (14), it can be calculated that and τ r，i , further based on Calculate τ u，i r i , and obtain the control input of the multi-unmanned ship system (τ u，i , τ r，i ).

[0087] In the specific implementation of S5: based on the speed error between the expected speed and the actual speed of the multiple unmanned ships, and the error between the expected yaw speed and the actual yaw speed, a periodic dynamic event trigger mechanism of the second controller is designed, and the event triggering condition is periodically verified to calculate the event triggering time for the transmission of the control signal obtained by the second controller, and the control signal is transmitted at the event triggering time.

[0088] In order to reduce the computational burden and channel burden, a periodic dynamic event triggering mechanism is designed for the second controllers (13) and (14) to periodically calculate whether the dynamic event triggering conditions are met and transmit the control input of the multi-unmanned ship system at a specific dynamic event triggering moment.

[0089] Define the control input signal actually transmitted as The specific expressions are as follows:

[0090]

[0091] Among them, t k represents the time when the kth periodic dynamic event trigger condition is satisfied, that is, the control input signal is only k The time is updated to the control signal calculated by the second controller; t k+1 Indicates the next time when the trigger condition of a periodic dynamic event is met.

[0092] Defines the actual control input signal that is transmitted due to the periodic dynamic event trigger mechanism and the control signal (τ) calculated in real time by the second controller (13) and (14) u，i , τ r，i ) has an error of (e Δ，v，i , e Δ，r，i ),in Based on this, the periodic dynamic event triggering conditions for the longitudinal moment and yaw moment input control acting on the unmanned ship are designed as follows:

[0093]

[0094] Among them, μ>0 represents a periodic sampling step with a certain upper bound, jμ represents j periodic sampling steps μ, and each step verifies the event triggering condition. represents the set of integers greater than 0; ρ v，i , ρ r，i The dynamic event trigger variables representing the transverse drift speed and yaw angular velocity of the i-th unmanned ship are in the form of dynamic design. The specific expressions are as follows:

[0095]

[0096] Among them, β 1 , β 2 represents a constant and satisfies β 2 -β 1 -1<0.

[0097] Using the periodic dynamic event trigger conditions shown in formulas (19) and (20), taking formula (19) as an example, at t u，k After the moment, determine whether the sampling step is satisfied at each cycle. The maximum lower bound of the set that meets the conditions is taken as the next time t that meets the periodic dynamic event triggering conditions u，k+1 .

[0098] The present invention comprehensively utilizes the above-mentioned target estimator, the first controller and the second controller with a periodic dynamic event trigger mechanism, so that the multi-unmanned ship system can realize the capture control of the target. Among them, the target estimator (4) obtains the speed and position estimation values ​​of the target to provide target information for the capture; the first controller (9) calculates the expected speed required for the capture based on these estimation values; the second controller includes a motion controller (13) and a yaw controller (14), which are used to preliminarily generate control input signals to adjust the motion posture of the multi-unmanned ship to achieve the capture. The periodic dynamic event trigger mechanism (17) and (18) optimizes the transmission of the control signal. By periodically verifying the event trigger conditions (19) and (20), the event trigger time of the control signal transmission obtained by the second controller (9) is calculated, and the control signal is transmitted at the event trigger time, thereby improving the system efficiency.

[0099] In order to more effectively illustrate the effectiveness of the method of the present invention, simulation verification is performed. All parameters and parameter matrix initialization are shown in Table 1:

[0100] Table 1 Parameters and parameter initialization

[0101]

[0102]

[0103] Figure 2 This is a rendering of the target capture control of a multi-unmanned ship system shown in an embodiment of the present invention. It can be seen that the three unmanned ships have achieved the capture of the target, and the capture effect achieved is satisfactory. Figure 3 It indicates the error between the actual position abscissa of each unmanned ship and the expected position abscissa, which gradually tends to 0 from the large deviation at the initial moment; Figure 4 It indicates that the error between the actual position ordinate of each unmanned ship and the expected position ordinate gradually tends to 0 from the large deviation at the initial moment; Figure 5It represents the error between the actual yaw angle of each unmanned ship and the expected yaw angle, which gradually tends to 0 from the large deviation at the initial moment; Figure 6 The time interval of the periodic dynamic event trigger is shown. It can be seen that the time interval is a multiple of the periodic sampling time 0.1s, and it is triggered only at a specific moment to transmit the control input signal.

[0104] Corresponding to the aforementioned embodiment of the method for controlling the periodic dynamic events of multiple unmanned ships triggered by an estimator, the present application also provides an embodiment of the device for controlling the periodic dynamic events of multiple unmanned ships triggered by an estimator.

[0105] Figure 7 The block diagram of a device for controlling the periodic dynamic events of multiple unmanned ships triggered by trapping based on an estimator is shown according to an exemplary embodiment. Figure 7 , the device comprises:

[0106] A multi-unmanned ship system model module is used to receive control input signals to control the movement of the unmanned ships, thereby realizing the capture of targets by the multi-unmanned ship system;

[0107] A target estimator module, which is used to obtain a velocity estimate and a position estimate of the captured target;

[0108] A first controller module is used to establish a mathematical model of the target to be captured based on the geometric relationship between the multiple unmanned ships and the target; and to calculate the desired speed required for the multiple unmanned ships to capture the target based on the mathematical model of the target to be captured and the target speed estimation value and position estimation value obtained by the target estimator using the first controller;

[0109] The second controller module has a periodic dynamic event triggering mechanism. According to the expected speed of the multiple unmanned ships obtained by the first controller, the control input of the multiple unmanned ships is calculated by the second controller, and the control input signal is transmitted to the motion model of the multiple unmanned ships at the event triggering moment.

[0110] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0111] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0112] Correspondingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned estimator-based multi-unmanned ship periodic dynamic event-triggered encirclement control method.

[0113] Correspondingly, the present application also provides a computer-readable storage medium on which computer instructions are stored. When the instructions are executed by a processor, the periodic dynamic event-triggered capture control method for multiple unmanned ships based on an estimator as described above is implemented.

[0114] It is understandable that the above storage medium may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. The storage medium may also be a U disk, a mobile hard disk, a magnetic disk or an optical disk, etc., which can store program codes.

[0115] It is understandable that the above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0116] Those skilled in the art will readily appreciate other embodiments of the present application after considering the description and practicing the contents disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The description and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0117] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A periodic dynamic event-triggered capture control method for multiple unmanned ships based on an estimator, characterized in that: include: Establish a system model of multiple unmanned ships; Determine the capture target, and use the target estimator to obtain the target's speed estimation value and position estimation value; According to the geometric relationship between multiple unmanned ships and the target, a mathematical model for capturing the target is established; According to the mathematical model of the encirclement target and the target speed estimation value and the position estimation value obtained by the target estimator, the first controller is used to calculate the desired speed required for the multiple unmanned ships to achieve the target encirclement; According to the desired speed of the multiple unmanned ships obtained by the first controller, the control input of the multiple unmanned ships is calculated by the second controller, and the motion control of the unmanned ships is realized by substituting the control input into the system model of the multiple unmanned ships; The second controller is provided with a periodic dynamic event trigger mechanism. The event trigger condition is verified based on the periodic dynamic event trigger mechanism of the second controller, the event trigger time of the control input transmission calculated by the second controller is calculated, and the control input signal is transmitted to the multi-unmanned ship motion model at the event trigger time, so that the multi-unmanned ship system can realize the capture control of the target.

2. The method for controlling the periodic dynamic events of multiple unmanned ships triggered by estimators according to claim 1 is characterized in that: The system model of multiple unmanned ships includes a dynamic model of multiple unmanned ships and a kinematic model of multiple unmanned ships, including: Define the position vector [x i ,y i ,φ i ] T , x i ,y i ,φ i Represent the horizontal coordinate, vertical coordinate and yaw angle respectively; construct the velocity vector [u i ,v i ,r i ],u i ,v i ,r i Representing the longitudinal velocity, drift velocity and yaw angular velocity, the dynamic model of multiple unmanned ships is obtained: Among them, p i =[x i ,y i ] T represents the actual position of the i-th unmanned ship, v i =R(φ i )[u i ,v i ] T represents the velocity vector of the i-th unmanned ship in the earth coordinate system, R(φ i ) represents the rotation matrix of the i-th unmanned ship; Define the unknown nonlinear function including the low-frequency components of the hydrodynamic effect and the environmental force acting on the unmanned ship. and an unknown but bounded high-frequency external perturbation caused by the high-frequency components of the environmental forces The multi-unmanned ship dynamics model is obtained: Among them, f i (v i ,r i ) represents the combined force of the Coriolis force and the centripetal force on the i-th unmanned ship, represents the conversion amount of the longitudinal torque control input of the i-th unmanned ship; τ u,i , τ r,i They represent the longitudinal moment and yaw moment acting on the i-th unmanned ship, respectively, as control inputs; f r,i (v i ,r i ) represents the hydrodynamic damping force on the i-th unmanned ship, m r,i represents the inertia coefficient of the i-th unmanned ship in yaw motion, d e,u ,d e,v ,d e,r They represent the high-frequency external disturbances that affect the longitudinal velocity, lateral drift velocity, and yaw angular velocity of the unmanned ship, Γ(v i ) represents the transformation matrix corresponding to the i-th unmanned ship.

3. The method for controlling the periodic dynamic events of multiple unmanned ships triggered by estimators according to claim 1 is characterized in that: The target controller enables each unmanned ship to estimate the position information of the target, and the target controller is expressed as: Among them, γ is a positive constant, They represent the estimated target positions of the i-th unmanned ship and the j-th unmanned ship at time t, respectively. represents the derivative of the estimated target position obtained by the i-th unmanned ship at time t, a ij represents the communication connection weight between the i-th unmanned ship and the j-th unmanned ship, a i0 represents the communication connection weight between the ith unmanned ship and the target, N represents the number of unmanned ships, p0 represents the target position vector determined by the target trajectory generated by the nonlinear system, and g is a smooth function; Represents the estimated target speed obtained by the i-th unmanned ship at time t.

4. The method for controlling the periodic dynamic events of multiple unmanned ships triggered by estimators according to claim 1 is characterized in that: The method of establishing a mathematical model for capturing a target based on the geometric relationship between the multiple unmanned ships and the target includes: Establishing a geometric relationship between the multiple unmanned ships and the target, wherein the geometric relationship represents a relative distance and azimuth between the unmanned ships and the target; Establish a mathematical model for capturing targets. The capture of targets by multiple unmanned vessels needs to meet the distance maintenance condition and the uniform interval surrounding condition. Among them, the distance maintenance condition is: for a specific distance η d As for any constant ε1>0, multiple unmanned ships can achieve the following relative distance η between the i-th unmanned ship and the target under control: i Requirements: The uniformly spaced surround condition is: for any constant ε2>0, the multiple unmanned ships can meet the following requirements for the azimuth difference between the i-th unmanned ship and the j-th unmanned ship under control: Where t represents time, They represent the errors between the actual angular phase and the expected angular phase of the i-th and j-th unmanned ships respectively, and N represents the number of unmanned ships.

5. The method for controlling the periodic dynamic events of multiple unmanned ships triggered by estimators according to claim 4 is characterized in that: The first controller is represented as: Among them, v d,i represents the expected speed of the i-th unmanned ship, represents the estimated target speed of the i-th unmanned ship at time t, represents the estimated target position obtained by the i-th unmanned ship at time t, ι1 is a positive constant, η d represents the preset distance between the UAV and the target, ρ ti represents the difference between the actual position of the i-th unmanned ship and the estimated target position, Λ is a symmetric matrix, represents the covariate, represents the expected capture angular velocity, ι2 is a positive constant, a ij represents the communication connection weight between the i-th unmanned ship and the j-th unmanned ship.

6. The method for controlling the periodic dynamic events of multiple unmanned ships triggered by estimators according to claim 2 is characterized in that: The second controller includes a motion controller and a yaw controller; The motion controller is expressed as: The yaw controller is expressed as: Among them, k1, k2, k3 and k4 are positive constants, v d,i represents the expected speed of the i-th unmanned ship, represents the expected yaw speed of the i-th unmanned ship, e v,i represents the speed tracking error of the i-th unmanned ship, e r,i represents the yaw tracking error of the i-th unmanned ship, They represent the estimated weights of the neural network used by the i-th unmanned ship to approximate the nonlinear parts of the speed subsystem and the yaw subsystem, respectively, and h i 、h r,i They represent the speed radial basis function and yaw radial basis function of the i-th unmanned ship according to the center and width of the neural network respectively.

7. The method for controlling the periodic dynamic events of multiple unmanned ships triggered by estimators according to claim 6 is characterized in that: The periodic dynamic event triggering mechanism is based on the speed error e between the expected speed and the actual speed of the multi-unmanned ship. v,i , and the yaw error e between the expected yaw speed and the actual yaw speed r,i The motion controller and the yaw controller are designed separately to independently determine the event triggering moment of the control input transmission; The triggering conditions of the periodic dynamic event triggering mechanism are as follows: Among them, t u,k ,t u,k+1 Indicates the time when the kth and k+1th motion controllers meet the triggering conditions of periodic dynamic events, t r,k ,t r,k+1 represents the time when the kth and k+1th yaw controllers meet the triggering conditions of periodic dynamic events, inf represents the maximum lower bound, μ represents the periodic sampling step, j represents the jth period, e Δ,v,i 、e Δ,r,i They represent the control input τ calculated in real time. u,i , τ r,i The control input actually being transmitted The error between represents the set of integers greater than 0, ρ v,i ,ρ r,i Represent the dynamic event trigger variables of the motion controller and yaw controller respectively, expressed as: Among them, β1 and β2 represent constants and satisfy β2-β1-1<0; Represents ρ v,i ,ρ r,i The derivative of .

8. A periodic dynamic event-triggered capture control device for multiple unmanned ships based on an estimator, characterized in that: include: A multi-unmanned ship system model module is used to receive control input signals to control the movement of the unmanned ships, thereby realizing the capture of targets by the multi-unmanned ship system; A target estimator module, which is used to obtain a velocity estimate and a position estimate of the captured target; A first controller module is used to establish a mathematical model of the target to be captured based on the geometric relationship between the multiple unmanned ships and the target; and to calculate the desired speed required for the multiple unmanned ships to capture the target based on the mathematical model of the target to be captured and the target speed estimation value and position estimation value obtained by the target estimator using the first controller; The second controller module has a periodic dynamic event triggering mechanism. According to the expected speed of the multiple unmanned ships obtained by the first controller, the control input of the multiple unmanned ships is calculated by the second controller, and the control input signal is transmitted to the motion model of the multiple unmanned ships at the event triggering moment.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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