Multi-module ship finite time fast cooperative obstacle avoidance control method, program, equipment and storage medium

Abstract

The invention relates to a multi-module ship finite time fast cooperative obstacle avoidance control method, program and device and a storage medium. According to the method, in consideration of the requirement of a multi-module ship on the formation forming speed during task execution, a finite time distributed formation controller is designed based on a backstepping method and a finite time instruction filter; a function segmentation design idea is used, a dynamic artificial potential field method is used to realize avoidance of formation to static obstacles, avoidance of dynamic obstacles and dynamic collision avoidance between module ships, and static obstacle avoidance, dynamic obstacle avoidance and dynamic collision avoidance control items in a formation control rate are designed; meanwhile, the influence of external interference is considered, and a finite time interference observer is added to estimate external time-varying interference; in order to reduce the communication consumption of the module ships and prolong the updating period of the controller, an event triggering mechanism is introduced into a multi-module ship collaborative formation controller. According to the method, the multi-module ship formation can be ensured to stably and safely execute tasks under the environment interference condition.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned boat formation motion control, and particularly relates to a finite-time fast cooperative obstacle avoidance control method, program, device and storage medium for multi-module ships. Background Art

[0002] A module ship refers to a fully driven surface ship with dynamic positioning capabilities. Multiple module ships can be spliced together to form a Mobile Offshore Base (MOB), which moves to the expected position to meet the needs of aircraft takeoff and landing, material transfer, supply, etc. For the cooperative motion control of multi-module ships, obstacle avoidance is a prerequisite for successfully completing tasks. It is necessary to consider not only static or dynamic obstacles in the sea area but also the collision avoidance problem between module ships. In addition, during the navigation of module ships, they are also affected by external disturbances such as wind, waves, and currents, which will have varying degrees of impact on the control accuracy and control effect of the controller. At the same time, in actual engineering, the frequent update of the controller will cause problems such as actuator loss. Summary of the Invention

[0003] The purpose of the present invention is to provide a finite-time fast cooperative obstacle avoidance control method, program, device and storage medium for multi-module ships. The present invention can perform distributed control on the dynamic collision avoidance and static obstacle avoidance problems of multi-module ships within a finite time, and at the same time introduce an event-triggered mechanism to ensure the safe, stable and reliable operation of the system and improve the accuracy of path tracking control.

[0004] A finite-time fast cooperative obstacle avoidance control method for multi-module ships includes the following steps:

[0005] Step 1: Determine the trigger interval duration T for execution control. The multi-module ship formation consists of n module ships. Construct a virtual leader module ship, and the n actual existing module ships are used as follower module ships; regard each module ship as a node in a graph, and the information interaction between module ships is represented by an edge connecting two nodes. Use the graph G=(V, E) to represent the network communication relationship of the multi-module ship formation composed of the virtual leader module ship and n actual existing follower module ships;

[0006] Step 2: For each follower module ship υ i , obtain its own pose information η i (t) and speed information υ i (t) at the current moment, and obtain the position and speed information of other module ships and dynamic and static obstacles in the environment;

[0007] Step 3: For each follower module ship υ i select a suitable formation reference vector l i (t), according to li Calculate the following-module ships υ i Construct the reference points η di that form the desired formation; according to η di (t) and η i (t), calculate the position tracking error vector z i of each following-module ship υ i1 (t);

[0008] Step 4: According to υ i (t) and the output vector of the finite-time command filter at time t-T calculate the velocity error vector z i of each following-module ship υ i2 (t);

[0009] Step 5: Obtain the velocity observation information of each following-module ship υ i through a finite-time disturbance observer. According to and υ (t), calculate the observation error w i (t) of each following-module ship υ i . According to w i (t), estimate the disturbance i of the finite-time disturbance observer for each following-module ship υ i ;

[0010] Step 6: Construct the filtering compensation signal for each following-module ship υ i . According to z i1 (t) and z i2 (t), calculate the position compensation error s i and the velocity compensation error s i1 (t) of each following-module ship υ i2 (t);

[0011] Step 7: Calculate the formation control law τ i of each following-module ship υ i (t): Adopt the dynamic artificial potential field method to calculate the formation collision avoidance control term i dynamic obstacle avoidance control term and static obstacle avoidance control term of each following-module ship υ . After weighting them, supplement them into the formation control law τ i (t) to obtain the final formation control law

[0012] Step 8: Each following-module ship υ i executes the formation control law Until time \(t + T\), if the multi-module ship formation has not completed the task, then execute Step 9; otherwise, stop the control;

[0013] Step 9: Calculate the virtual control quantity \(\alpha\) of each follower module ship \(\upsilon\) i at the current time \(t\), and use \(\alpha\) i1 (t) as the input vector of the finite-time command filter. The output vector i1 of the finite-time command filter Return to Step 2.

[0014] Furthermore, in Step 1, \(V=\{\upsilon\) 1 ,\upsilon\) 2 ,...,\upsilon\) n \} is the node set, and \(E\) is the edge set; the edge \(\epsilon\) ij =( \(\upsilon\) i ,\upsilon\) j ) \(\in E\) means that the follower module ship \(\upsilon\) i can transmit information to the follower module ship \(\upsilon\) j , and the follower module ship \(\upsilon\) i is a neighbor of the follower module ship \(\upsilon\) j . If the edge does not exist, it means that information cannot be transmitted between the two nodes; \(i,j = 1,2,...,n\);

[0015] The adjacency matrix of \(G\) \(a\) ij is the element in the \(i\)-th row and \(j\)-th column of \(A\). The diagonal element \(a\) ii = 0, and the non-diagonal element \(a\) ij is the weight of the edge \(\epsilon\) ij . \(a\) ij > 0 means that there is communication between the follower module ship \(\upsilon\) i and the follower module ship \(\upsilon\) j , otherwise \(a\) ij = 0;

[0016] The degree matrix of \(G\) is \(D = diag\{d\) 1 ,d\) 2 ,...,\(d\) n \},

[0017] In Step 2, \(\eta\) i (t)=[x\) i (t),y\) i (t),\(\psi\) i (t)] T , \(\upsilon\) i (t)=[u\) i (t),v\) i (t),r\) i (t)] T ; where, \(X\) i\(\boldsymbol{\xi}(t)=(x i (t),y i (t))\) is the position of the follower module ship \(\upsilon\) i at the current time \(t\), and \(\psi\) i (t)\) is the heading angle of the follower module ship \(\upsilon\) i at the current time \(t\).

[0018] Furthermore, the reference point \(\boldsymbol{\eta}\) di (t) of the desired formation in step 3 is:

[0019] \(\boldsymbol{\eta}\) di (t)=\(\boldsymbol{\eta}\) i (t)+R(\(\psi\) i )(t)\(\boldsymbol{l}\) i (t)

[0020] where

[0021] the position tracking error vector \(\boldsymbol{z}\) i of the follower module ship \(\upsilon\) i1 (t) is:

[0022]

[0023] where \(a\) i0 is the weight coefficient for the follower module ship \(\upsilon\) i to track the reference point \(\boldsymbol{\eta}\) di (t) of the desired formation;

[0024] The velocity error vector \(\boldsymbol{z}\) i of the follower module ship \(\upsilon\) i2 (t) in step 4 is:

[0025]

[0026] Furthermore, the observation error \(\boldsymbol{w}\) i of the follower module ship \(\upsilon\) i (t) in step 5 is:

[0027]

[0028] where \(M\) i is the inertia matrix including the added hydrodynamic mass of the follower module ship \(\upsilon\) i at the current time \(t\);

[0029]

[0030] where \(m\) i is the mass of the follower module ship \(\upsilon\) i ; \(x\) gi is the follower module ship \(\upsilon\) iThe vertical distance from the origin of the hull coordinate system to the center; For the follower module ship υ i The derivative of the added mass force with respect to acceleration at the current time t; I zi (t) is for the follower module ship υ i The moment of inertia at the current time t;

[0031] According to w i (t) estimate the disturbance of the finite-time disturbance observer for each follower module ship υ i as: is:

[0032]

[0033] where, λ 1 , λ 2 ∈R 3×3 is a positive definite diagonal matrix, 0.5 ≤ δ 1 <1, δ 2 =2δ 1 -1.

[0034] Furthermore, in step 6, the filtering compensation signal for each follower module ship υ i is:

[0035]

[0036] where, b i1 (t), b i2 (t) are the position error compensation and velocity error compensation signals for the follower module ship υ i respectively, and b i1 (0) = 0, b i2 (0) = 0; k i1 , k i2 are positive constants, and

[0037] The position compensation error s i and velocity compensation error s i1 (t) for each follower module ship υ i2 are:

[0038] s i1 (t) = z i1 (t) - b i1 (t)

[0039] s i2 (t) = z i2 (t) - b i2 (t).

[0040] Furthermore, in step 7, for each follower module ship υi The formation control law τ i (t) is as follows:

[0041]

[0042] Where D i is the damping matrix of the follower module ship υ i .

[0043]

[0044] Using the dynamic artificial potential field method, the repulsive force F i of the static obstacle c on the follower module ship υ ric is expressed as:

[0045]

[0046] Where d ic = X i (t) - X c = [x i (t) - x c , y i (t) - y c T , that is, the position coordinates of the follower module ship υ i minus the position coordinates of the static obstacle c; R imax represents the collision danger radius of the follower module ship υ i , R imin represents the collision radius of the follower module ship υ i , ||d ic || ≤ R imin means that the follower module ship υ i collides with the static obstacle c;

[0047] The repulsive force F j of the dynamic obstacle e or other follower module ships υ i in the multi-follower module ship formation on the follower module ship υ rij is expressed as:

[0048]

[0049] Where d ij = X i (t) - X j (t) = [x i (t) - x j (t), y i (t) - y j (t)] T , let ψ​ij = ψ j (t) - ψ i (t), η ij ∈(0, 1);

[0050] Sum the repulsive forces F of each static obstacle c on the following module ship υ i to obtain the static obstacle avoidance control term ric as: For:

[0051]

[0052] Sum the repulsive forces F of each dynamic obstacle e on the following module ship υ i to obtain the dynamic obstacle avoidance control term rij as: For:

[0053]

[0054] Sum the repulsive forces F of other following module ships υ in the multi-following module ship formation on the following module ship υ j to obtain the formation collision avoidance control term i as: rij For: For:

[0055]

[0056] The final formation control law of the following module ship υ i is: For:

[0057]

[0058] where κ 1 , κ 2 , κ 3 are weight coefficients.

[0059] Furthermore, the virtual control quantity α i of the following module ship υ at the current t moment is: i1 For:

[0060]

[0061] where ι i1 is a positive constant, γ is a positive constant and 0 < γ < 1.

[0062] A computer device / system / apparatus, comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned multi-module ship finite-time fast cooperative obstacle avoidance control method.

[0063] A computer-readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the above-mentioned multi-module ship finite-time fast cooperative obstacle avoidance control method are implemented.

[0064] A computer program product, comprising a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of the above-mentioned multi-module ship finite-time fast cooperative obstacle avoidance control method are implemented.

[0065] The beneficial effects of the present invention are as follows:

[0066] Considering the requirement of the formation speed of multi-module ships during task execution, based on the backstepping method and the finite-time command filter, a finite-time distributed formation controller is designed; using the idea of functional piecewise design, the dynamic artificial potential field method is used to achieve the avoidance of static obstacles, the avoidance of dynamic obstacles, and the dynamic collision avoidance between module ships in the formation, and the static obstacle avoidance, dynamic obstacle avoidance, and dynamic collision avoidance control terms in the formation control law are designed; at the same time, considering the influence of external disturbances, a finite-time disturbance observer is added to estimate the external time-varying disturbances; in order to reduce the communication consumption of module ships and extend the controller update period, the event-triggered mechanism is introduced into the multi-module ship cooperative formation controller. The control method of the present invention can ensure the stable and safe execution of tasks under the condition of environmental disturbances. Description of the Drawings

[0067] Figure 1 It is a schematic diagram of the formation navigation of multi-module ships in a dynamic environment.

[0068] Figure 2 It is a schematic diagram of the cooperative formation of a virtual leader with a formation reference point introduced.

[0069] Figure 3 It is a schematic diagram of the distributed formation of multi-module ships.

[0070] Figure 4 It is a control block diagram of a finite-time command filter.

[0071] Figure 5 It is a schematic diagram of the force on the controlled object by the artificial potential field method.

[0072] Figure 6 It is a schematic diagram of the collision avoidance of the cooperative motion formation of multi-module ships.

[0073] Figure 7 It is a schematic diagram of the obstacle avoidance of module ships in the case of dynamic sudden obstacles.

[0074] Figure 8 Schematic diagram of the formation movement trajectory of multi-module ships adopting the present invention (at t = 320s, 390s, 410s, 600s). Detailed implementation manner

[0075] The present invention will be further described below with reference to the accompanying drawings.

[0076] The multi-module ship formation consists of n module ships. Each module ship is regarded as a node in the figure. The information interaction between module ships is represented by an edge connecting two nodes. The network communication relationship of the multi-module ship formation composed of the virtual leader module ship and n existing follower module ships is represented by the graph G = (V, E); the virtual leader module ship is used to provide the desired path and desired speed for each existing follower module ship;

[0077] where V = {υ 1 , υ 2 ,..., υ n} is the node set, and E is the edge set; the edge ε ij = (υ i , υ j ) ∈ E means that the module ship υ i can transmit information to the module ship υ j , and the module ship υ i is a neighbor of the module ship υ j . If the edge does not exist, it means that information cannot be transmitted between the two nodes; i, j = 1, 2,..., n;

[0078] The adjacency matrix of G a ij is the element in the i-th row and j-th column of A. The diagonal element a ii = 0, and the non-diagonal element a ij is the weight of the edge ε ij . a ij > 0 means that there is communication between the module ship υ i and the module ship υ j , otherwise a ij = 0;

[0079] The degree matrix of G is D = diag{d 1 , d 2 ,..., d n},

[0080] If all the modular ships in the formation can directly obtain the control information sent by the virtual leader ship, then the controllers of each modular ship can be designed for path tracking of the reference trajectory. However, due to the limitation of the communication distance, some modular ships in the formation cannot directly receive the control information sent by the virtual leader ship. Figure 2 Figure for the formation of multiple modular ships with limited communication distance. At this time, we need to consider how to complete the formation task through the state information of neighboring modular ships. Therefore, we need to design the controller as a distributed formation controller.

[0081] The concept of the formation reference point assumes that the virtual leader ship moves along a given reference trajectory, and each following modular ship has a corresponding formation reference point. The purpose of introducing the formation reference point is to apply the formation-keeping control algorithm to handle the cooperative formation control problem of multiple modular ships. To clearly represent the relative position between the following modular ships and the virtual leader ship, we select a suitable formation reference vector l i (t) for each following modular ship to calculate the reference point η di (t) of the desired formation composed of each following modular ship. By using the derived cooperative control law, the formation reference points of each following modular ship are made to approach the same ideal state point infinitely, so as to ensure that all modular ships can complete the cooperative operation. The schematic diagram of this scheme is shown as Figure 3 follows.

[0082] η di (t) = η i (t) + R(ψ i )l i (t)

[0083] where

[0084] Determine the triggering interval duration T for executing control. For each modular ship υ i , obtain its own pose information η i (t) = [x i (t), y i (t), ψ i (t)] T and speed information υ i (t) = [u i (t), v i (t), r i (t)] T , and obtain the position and speed information of other modular ships and dynamic and static obstacles in the environment; where X i (t) = (x i (t), y i (t)) is the position of modular ship υ iThe position at the current time t, ψ i (t) is the module ship υ i The heading angle at the current time t;

[0085] Obtain the speed observation information of each module ship υ i through a finite-time disturbance observer Calculate the observation error w i of each module ship υ i (t);

[0086]

[0087] where, M i is the inertia matrix including the hydrodynamic added mass of the module ship υ i at the current time t;

[0088]

[0089] where, m i is the mass of the module ship υ i ; x gi is the vertical distance from the origin of the hull coordinate system of the module ship υ i to the center; is the derivative of the added mass force with respect to acceleration of the module ship υ i at the current time t; I zi (t) is the moment of inertia of the module ship υ i at the current time t;

[0090] Estimate the disturbance i of the finite-time disturbance observer of each module ship υ

[0091]

[0092] where, λ 1 , λ 2 ∈R 3×3 is a positive definite diagonal matrix, 0.5 ≤ δ 1 <1, δ 2 =2δ 1 -1;

[0093] Calculate the position tracking error vector z i of the module ship υ i1 (t) and the speed error vector z i2 (t);

[0094]

[0095] where, a i0 is the module ship υi Tracking desired formation reference point η di (t), the weight coefficient a i0 The larger it is, the more the modular ship υ i Tends to track the desired formation reference point, a i0 Smaller or zero indicates that the modular ship υ i Mainly adjusts its position through interaction with other modular ships rather than directly tracking the desired formation reference point;

[0096]

[0097] Among them, at the previous trigger moment, that is, the virtual control quantity α at the t - T moment i1 (t - T) As the input vector of the finite - time command filter, the output vector of the finite - time command filter is Between the t - T moment and the current t moment, the control signal remains at a constant value

[0098] To eliminate the filtering error, design the filtering compensation signal:

[0099]

[0100] Among them, b i1 (t), b i2 (t) Are respectively the position error compensation and velocity error compensation signals of the modular ship υ i , and b i1 (0) = 0, b i2 (0) = 0; k i1 , k i2 Are positive constants, And

[0101] The modular ship υ i The position compensation error s i1 (t):

[0102] s i1 (t) = z i1 (t) - b i1 (t)

[0103] The modular ship υ i The virtual control quantity α i1 (t):

[0104]

[0105] Among them, ι i1 Is a positive constant, γ is a positive constant and 0 < γ < 1;

[0106] The modular ship υi Velocity compensation error s i2 (t):

[0107] s i2 (t) = z i2 (t) - b i2 (t)

[0108] Module ship υ i Formation control law τ i (t):

[0109]

[0110] Where, D i Is the damping matrix of module ship υ i

[0111]

[0112] Such as Figure 5 , Figure 6 And Figure 7 As shown, for each module ship υ i , the dynamic artificial potential field method is adopted to calculate the formation collision avoidance control term i Of module ship υ Dynamic obstacle avoidance control term And static obstacle avoidance control term After weighting them, supplement them to the formation control law of module ship υ i To obtain the formation control law of each module ship υ i From the current time t until the trigger time t + T of the next execution of the control

[0113]

[0114] Where, κ 1 , κ 2 , κ 3 Are weight coefficients;

[0115] The repulsive force F i Of the static obstacle c on the module ship υ ric Is expressed as:

[0116]

[0117] Where, d ic = X i (t) - X c = [x i (t) - x c , y i (t) - y c ​​T , i.e., the modular ship υ i The position coordinates of the modular ship υ minus the position coordinates of the static obstacle c; R imax Denote the modular ship υ i The collision risk radius of the modular ship υ, R imin Denote the modular ship υ i The collision radius of the modular ship υ, ||d ic || ≤ R imin Denote the modular ship υ i Collides with the static obstacle c;

[0118] The dynamic obstacle e or other modular ships υ in the multi - modular ship formation j For the modular ship υ i The repulsive force F rij Is expressed as:

[0119]

[0120] Where, d ij = X i (t) - X j (t)=[x i (t) - x j (t), y i (t) - y j (t)] T , Let ψ ij = ψ j (t) - ψ i (t), η ij ∈(0, 1);

[0121] Sum up the repulsive forces F of each static obstacle c on the modular ship υ i To obtain the static obstacle avoidance control term ric Is: Is:

[0122]

[0123] Sum up the repulsive forces F of each dynamic obstacle e on the modular ship υ i To obtain the dynamic obstacle avoidance control term rij Is: Is:

[0124]

[0125] Sum up the repulsive forces F of other modular ships υ in the multi - modular ship formation on the modular ship υ j To obtain the formation collision avoidance control term i Is: rij Is: Is:

[0126]

[0127] Take the virtual control quantity α i1 (t) at the current moment t as the input vector of the finite-time command filter, and the output vector of the finite-time command filter is Each module ship υ i Execute the formation control law Until the moment t + T, if the multi-module ship formation has not completed the task, repeat the above steps and execute the next control.

[0128] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fast collaborative obstacle avoidance control method for a multi-module ship in limited time, characterized in that: The following steps are involved: Step 1: Determine the trigger interval time T of the execution control. The multi-module ship formation consists of n module ships. Construct a virtual pilot module ship and n real module ships as follower module ships. Each module ship is regarded as a node in the graph. The information interaction between module ships is represented by an edge connecting two nodes. The network communication relationship of the multi-module ship formation composed of the virtual pilot module ship and n real follower module ships is represented by a graph G = (V, E). Step 2: For each follower module ship i , get the current position information η i (t) and speed information v i (t), obtain the position and speed information of other module ships and dynamic and static obstacles in the environment; Step 3: For each follower module i Select a suitable formation reference vector l i (t), according to l i (t) Calculate the ship υ of each follower module i The reference point η that forms the desired formation di (t); according to η di (t) and η i (t) Calculate the ship v of each follower module i The position tracking error vector z i1 (t); Step 4: According to υ i (t) and the output vector of the finite time command filter at time tT Calculate each follower module ship υ i The velocity error vector z i2 (t); Step 5: Obtain the ship υ of each following module through the finite time interference observer i Speed ​​observation information according to With i (t) Calculate the ship v of each follower module i The observation error w i (t), according to w i (t) Estimate the ship v of each follower module i The disturbance of the finite-time disturbance observer Step 6: Build each follower module ship i The filtered compensation signal is based on z i1 (t) and z i2 (t) Calculate the ship v of each follower module i Position compensation error s i1 (t) and speed compensation error s i2 (t); Step 7: Calculate the ship υ of each follower module i The formation control law τ i (t): Using the dynamic artificial potential field method, calculate the ship υ of each follower module separately i Formation collision avoidance control items Dynamic obstacle avoidance control and static obstacle avoidance control After weighting, add it to the formation control law τ i (t), we get the final formation control law Step 8: Each follower module ship i Execution of formation control laws Until time t+T, if the multi-module ship formation has not completed the task, execute step 9; otherwise, stop the control; Step 9: Calculate the ship υ of each follower module i The virtual control amount α at the current time t i1 (t), α i1 (t) is the input vector of the finite time command filter, and the output vector of the finite time command filter is Return to step 2.

2. According to claim 1, a multi-module ship limited time rapid collaborative obstacle avoidance control method is characterized by: In step 1, V={υ1,υ2,...,υ n } is the node set, E is the edge set; edge ε ij =(υ i ,υ j )∈E represents the following module shipυ i Ability to send follow module ship j Send information and follow the module ship i To follow the module ship j A neighbor of, if the edge does not exist, it means that the two nodes cannot pass information; i, j = 1, 2, ..., n; The adjacency matrix of G a ij is the element in row i and column j of A, and the diagonal element a ii =0, non-diagonal element a ij For edge ε ij The weight of ij >0 means follow module ship i With follow module shipυ j There is communication, otherwise a ij =0; The degree matrix of G is D = diag{d1,d2,...,d n }, In step 2, n i (t) = [x i (t),y i (t),ψ i (t)] T , i (t)=[u i (t),v i (t),r i (t)] T ; Among them, X i (t) = (x i (t),y i (t)) is the following module ship i At the current position at time t, ψ i (t) is the following module ship i The heading angle at the current time t.

3. The method for fast coordinated obstacle avoidance control of a multi-module ship in limited time according to claim 2 is characterized in that: The reference point n of the desired formation in step 3 di (t) is: or di (t)=η i (t)+R(ψ i )l i (t) in, Follow module ship i The position tracking error vector z i1 (t) is: Among them, a i0 To follow the module ship i Tracking the desired formation reference point η di The weight coefficient of (t); In step 4, follow the module ship i The velocity error vector z i2 (t) is:

4. The method for fast coordinated obstacle avoidance control of a multi-module ship in limited time according to claim 3 is characterized by: In step 5, follow the module ship i The observation error w i (t) is: Among them, M i To follow the module ship i The inertia matrix including the hydrodynamic added mass at the current time t; Among them, m i To follow the module ship i The quality of x gi To follow the module ship i The vertical distance from the origin to the center of the hull coordinate system; To follow the module ship i The derivative of the additional mass force with respect to acceleration at the current time t; I zi (t) is the following module ship i The moment of inertia at the current time t; According to w i (t) Estimate the ship v of each follower module i The disturbance of the finite-time disturbance observer for: Among them, λ1,λ2∈R 3×3 It is a positive definite diagonal matrix, 0.5≤δ1<1,δ2=2δ1-1.

5. The method for fast coordinated obstacle avoidance control of a multi-module ship in limited time according to claim 4 is characterized by: In step 6, each follower module ship is constructed i The filtered compensation signal is: Among them, b i1 (t),b i2 (t) are the following module ships i Position error compensation and speed error compensation signals, and b i1 (0) = 0, b i2 (0) = 0; k i1 ,k i2 is a positive constant, θ i1 <2k i1 , And θ i2 <2k i2 ; Each follower module ship i Position compensation error s i1 (t) and speed compensation error s i2 (t) is: s i1 (t)=z i1 (t)-b i1 (t) s i2 (t)=z i2 (t)-b i2 (t)。 6. The method for fast coordinated obstacle avoidance control of a multi-module ship in limited time according to claim 5 is characterized by: In step 7, each follower module ship i The formation control law τ i (t) is: Among them, D i To follow the module ship i The damping matrix is Using the dynamic artificial potential field method, the static obstacle c has a great influence on the following module ship υ i The repulsive force F ric It is expressed as: Among them, d ic =X i (t)-X c =[x i (t)-x c ,y i (t)-y c ] T , that is, follow the module ship i minus the position coordinates of the static obstacle c; imax Indicates the following module ship i The collision risk radius, R imin Indicates the following module ship i The collision radius, ||d ic ||≤R imin Indicates the following module ship i Collision with static obstacle c; Dynamic obstacle e or other follower module ships in a multi-follower module ship formation j For follow module shipυ i The repulsive force F rij It is expressed as: where d ij = X i (t) - X j (t) = [x i (t) - x j (t), y i (t) - y j (t)] T , let ψ ij = ψ j (t) - ψ i (t), η ij ∈(0, 1); Each static obstacle c is matched to the following module ship v i The repulsive force F ric Superposition, get the static obstacle avoidance control term for: Each dynamic obstacle e is matched to the following module ship v i The repulsive force F rij Superposition, get the dynamic obstacle avoidance control item for: The other follower module ships in the multi-follower module ship formation will j To follow the module ship i The repulsive force F rij Superposition, to obtain the formation collision avoidance control item for: Follow module ship i The final formation control law for: Among them, κ1, κ2, κ3 are weight coefficients.

7. The method for fast coordinated obstacle avoidance control of a multi-module ship in limited time according to claim 5 is characterized by: In step 9, follow the module ship i The virtual control amount α at the current time t i1 (t) is: in, ι i1 is a normal number, γ is a normal number and 0<γ<1.

8. A computer device / equipment / system comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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