Underactuated underwater robotic fish formation control method, system and equipment based on dynamic surface control

Abstract

The present application discloses a method, system, and device for controlling an underactuated underwater robotic fish formation based on dynamic surface control, relating to the field of underwater robot control technology. The method comprises constructing a virtual formation topology, calculating the straight-line distance between a virtual follower and a real follower, calculating the position error between the real follower and a target reference position in the fish body coordinate system based on the straight-line distance, and determining the yaw angle; determining a reference heading angle based on the straight-line distance and the yaw angle; determining the heading error based on the reference heading angle and the heading angle; obtaining an output signal of a dynamic surface filter based on the reference heading angle; determining a heading angular velocity control law and a speed control law based on the position error, the heading error, and the output signal of the dynamic surface filter; and controlling the real follower robotic fish to move according to the virtual formation topology based on the heading angular velocity control law and the speed control law. The present application improves the stability of the underwater underactuated system formation and the real-time performance of the underwater weak computing power system.

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