An unmanned surface vehicle formation maneuvering control method based on memory caching mechanism considering intermittent communication failure

Abstract

The application discloses a kind of unmanned ship formation maneuvering control methods based on memory buffer mechanism considering intermittent communication failure, belong to unmanned ship cooperative control field.It is used to solve the problem of poor control robustness, insufficient flexibility of formation and strong dependence on global information in the prior art under communication interruption scenario.The method comprises the following steps: establishing the kinematics and dynamics model of unmanned ship;Construct a buffer zone and give different weights to historical data to realize state prediction compensation;Define the cluster communication topology and affine transformation relationship, and divide the leaders and followers;Design positive minimum interval event trigger mechanism to reduce communication frequency;Construct a completely distributed state observer based on memory buffer;Design a distributed formation controller to achieve flexible formation control.This method is suitable for stable control and dynamic formation in multi-unmanned ship cooperative task in restricted water area or complex environment.

Description

Technical Field

[0001] It belongs to the field of unmanned surface vessel (USV) collaborative control, and specifically involves the collaborative maneuver control of USV formations. Background Technology

[0002] In recent years, unmanned surface vehicles (USVs) have become an important research direction in intelligent maritime systems due to their high mobility and low cost advantages in tasks such as ocean patrol, water quality monitoring, and target tracking. Among them, the cooperative formation control of multiple USVs is the core key to achieving their efficient operation, especially when performing tasks in restricted waters such as ports, inland rivers, and near islands and reefs, where the flexibility and robustness of the formation are particularly important.

[0003] Most existing formation control methods employ centralized control or distributed methods based on fixed formations. For example, some studies utilize consensus control protocols to maintain formation or introduce artificial potential field functions to control the relative positions between unmanned surface vessels, thereby improving cooperative maneuverability to some extent. However, these schemes often assume that the system has a continuous global communication link, lacking the ability to cope with unstable communication situations.

[0004] Furthermore, while fixed formation control methods have a clear structure, they lack flexibility and are difficult to adapt to complex and dynamic environments. In particular, when there are obstacles or restricted paths in the mission area, it is difficult to adjust the formation in real time to avoid obstacles or mitigate risks. For example, in narrow channels, fixed V-shaped or tandem formations may be difficult to adapt to changes in course due to their high overall rigidity.

[0005] Regarding communication strategies, some scholars have proposed control methods based on event-triggered mechanisms to reduce communication frequency and alleviate communication load. For example, some studies have introduced dynamic threshold event triggers into network control systems, where communication only occurs when the system state deviation reaches a certain threshold, thereby reducing resource waste. However, most of these methods neglect state prediction or compensation mechanisms during communication interruptions, leading to inaccurate observations and control command failures under intermittent disconnection conditions.

[0006] To address the state observation problem, some methods introduce tools such as the Extended Kalman Filter (EKF) and sliding mode observers to enhance the accuracy of system state estimation. However, the accuracy of observation still tends to decrease during communication intervals. Furthermore, these observers often rely on global information, making them difficult to deploy in fully distributed systems. In addition, while frequent controller updates can improve response speed, they also increase the risk of system attacks, impacting long-term stability.

[0007] In summary, the existing technology has the following shortcomings: it lacks a robust control mechanism suitable for intermittent communication failure scenarios, has insufficient flexibility in formation control, and is highly dependent on global information with low efficiency in communication resource utilization, making it difficult to meet the comprehensive requirements of stability, security and flexibility of unmanned surface vessel formation systems in actual complex mission environments. Summary of the Invention

[0008] To address the shortcomings of existing technologies, such as the lack of robust control mechanisms applicable to intermittent communication failure scenarios, insufficient flexibility in formation control, strong dependence on global information, and low efficiency in communication resource utilization, the technical solution provided by this invention is as follows:

[0009] A method for unmanned surface vessel (USV) formation maneuver control based on a memory caching mechanism that considers intermittent communication failures includes:

[0010] The steps to establish a kinematic and dynamic mathematical model of the unmanned surface vessel are to provide basic system parameters for subsequent state estimation and control.

[0011] The steps include: building a cache to store historical state data, setting different weights according to the data time sequence, and using historical data to predict and compensate for state during communication interruptions.

[0012] The steps to define the communication topology and affine transformation relationship of the unmanned surface vessel (USV) swarm, divide the USVs into leaders and followers, and establish a one-to-one correspondence between the leaders and target configurations.

[0013] The design of a dynamic event triggering mechanism with minimum interval involves steps such as calculating whether the communication triggering conditions are met based on state error and auxiliary variables, and determining the minimum triggering interval in conjunction with the buffer state.

[0014] The steps involve constructing a fully distributed state observer based on memory caching, and estimating the desired location and velocity using neighbor states and local cached historical data.

[0015] A distributed formation controller is designed based on the principle of affine transformation. The controller generates follower control commands based on the desired state output by the observer and the leader trajectory information, thereby realizing the steps of flexible formation maneuver control of the unmanned surface vessel swarm.

[0016] Furthermore, in a preferred embodiment, the cache sets a weight value based on how close the data time is to the current time, with historical data closer to the current time having a higher weight.

[0017] Furthermore, in a preferred embodiment, the event triggering mechanism includes an auxiliary variable to describe the dynamic trend of the error, and a set of positive design parameters to limit the minimum event triggering interval.

[0018] Furthermore, in a preferred embodiment, the distributed state observer receives and updates the state information of neighboring nodes when communication is available, and uses historical data from the buffer for error compensation when communication is interrupted.

[0019] Furthermore, in a preferred embodiment, the affine transformation includes translation, rotation, scaling, or any combination thereof, used to dynamically adjust the formation of the unmanned surface vessel swarm.

[0020] Furthermore, in a preferred embodiment, the number of leaders is not less than the dimension of the configuration space plus one.

[0021] A memory-based unmanned surface vessel (USV) formation maneuver control device that considers intermittent communication failures is also provided, comprising:

[0022] A module for establishing the kinematic and dynamic mathematical model of unmanned surface vessels, providing basic system parameters for subsequent state estimation and control;

[0023] A module is built to store historical state data, with different weights set according to the data time sequence, and to perform state prediction compensation based on historical data during communication interruptions.

[0024] A module is used to define the communication topology and affine transformation relationship of the unmanned surface vessel (USV) swarm, divide USVs into leaders and followers, and establish a one-to-one correspondence between the leader and the target configuration.

[0025] Design a dynamic event triggering mechanism with minimum interval, which calculates whether the communication triggering conditions are met based on state error and auxiliary variables, and determines the minimum triggering interval in combination with the buffer state;

[0026] Construct a fully distributed state observer based on memory caching, and a module that estimates the desired location and velocity by using neighbor states and local cached historical data;

[0027] A distributed formation controller is designed based on the principle of affine transformation. It generates follower control commands based on the desired state output by the observer and the leader trajectory information, thus realizing a module for flexible formation maneuver control of unmanned surface vessel swarms.

[0028] A computer storage medium is also provided for storing a computer program, which, when read by the computer, executes the method.

[0029] A computer is also provided, including a processor and a storage medium, wherein the computer executes the method when the processor reads a computer program stored in the storage medium.

[0030] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows:

[0031] By designing a buffer zone in the unmanned surface vessel (USV) system and introducing a memory-based event-triggered mechanism, the control instability caused by intermittent communication failures is effectively addressed. Compared to the traditional approach of setting control variables to zero or maintaining old values ​​during communication interruptions, this scheme utilizes historical state information in the buffer for predictive compensation, enabling the system to maintain high control accuracy and response continuity even during non-communication periods, thereby improving the system's anti-interference capability and robustness.

[0032] The proposed distributed memory observer achieves accurate estimation of the desired state under local communication conditions by fusing partial state information of the leader and neighbor nodes. Unlike centralized observers that rely on global information, this method achieves fully distributed deployment, enhancing the scalability and practicality of the observer in large-scale unmanned surface vessel systems. Furthermore, it maintains good state observation performance even in intermittent communication environments, improving the system's operational adaptability.

[0033] A positive minimum interval dynamic event triggering mechanism is adopted, setting dynamic thresholds for communication triggering conditions. This ensures that communication between vessels only occurs when necessary, effectively avoiding system load and energy consumption problems caused by frequent communication. Compared with existing fixed threshold or periodic sampling communication methods, this method not only reduces communication frequency but also avoids Zeno's phenomenon, improving system stability and execution efficiency.

[0034] By introducing an affine transformation method at the formation control layer, dynamic reconstruction and flexible adjustment of the unmanned surface vessel (USV) formation are achieved, enabling it to adaptively adjust its formation shape and heading based on changes in the leader's position. Compared to the limitations of traditional fixed formation structures in handling complex environmental changes, this method supports various formation evolution forms, including rotation, scaling, and translation, significantly improving the system's maneuverability and mission adaptability in narrow sea areas or obstacle-filled scenarios.

[0035] The constructed leader-follower model, combined with affine localization theory, enables efficient collaborative control of the entire unmanned surface vessel (USV) formation through a small number of leaders. While maintaining the system's distributed structure, this model achieves overall formation changes by adjusting the leader positions, reducing control costs and avoiding reliance on centralized path planning systems. This improves the system's rapid deployment capability and flexible scheduling in practical missions.

[0036] It is suitable for stable control and flexible maneuvering scenarios in multi-unmanned surface vessel collaborative formation missions in restricted waters or complex environments. Attached Figure Description

[0037] Figure 1 A schematic diagram of an unmanned surface vessel (USV) formation maneuver control method that takes into account intermittent communication failures based on a memory caching mechanism;

[0038] Figure 2 A graph showing the change in the maneuver trajectory of an unmanned surface vessel formation;

[0039] Figure 3 This is a graph showing the variation of the observation error at the desired location.

[0040] Figure 4 This is a graph showing the variation of the expected velocity observation error. Detailed Implementation

[0041] To make the advantages and benefits of the technical solution provided by the present invention clearer, the technical solution provided by the present invention will now be described in further detail with reference to the accompanying drawings, specifically:

[0042] Implementation Method 1: This implementation method provides a platooning maneuver control method for unmanned surface vessels (USVs) that considers intermittent communication failures based on a memory caching mechanism, including:

[0043] The steps to establish a kinematic and dynamic mathematical model of the unmanned surface vessel are to provide basic system parameters for subsequent state estimation and control.

[0044] The steps include: building a cache to store historical state data, setting different weights according to the data time sequence, and using historical data to predict and compensate for state during communication interruptions.

[0045] The steps to define the communication topology and affine transformation relationship of the unmanned surface vessel (USV) swarm, divide the USVs into leaders and followers, and establish a one-to-one correspondence between the leaders and target configurations.

[0046] The design of a dynamic event triggering mechanism with minimum interval involves steps such as calculating whether the communication triggering conditions are met based on state error and auxiliary variables, and determining the minimum triggering interval in conjunction with the buffer state.

[0047] The steps involve constructing a fully distributed state observer based on memory caching, and estimating the desired location and velocity using neighbor states and local cached historical data.

[0048] A distributed formation controller is designed based on the principle of affine transformation. The controller generates follower control commands based on the desired state output by the observer and the leader trajectory information, thereby realizing the steps of flexible formation maneuver control of the unmanned surface vessel swarm.

[0049] The cache sets weight values ​​based on how close the data is to the current time; the closer the historical data is to the current time, the higher the weight.

[0050] In the event triggering mechanism, auxiliary variables are set to describe the dynamic trend of the error, and a set of positive design parameters are set to limit the minimum event triggering interval.

[0051] The distributed state observer receives and updates the state information of neighboring nodes when communication is available, and uses historical data from the buffer for error compensation when communication is interrupted.

[0052] Affine transformations, including translation, rotation, scaling, or any combination thereof, are used to dynamically adjust the formation of unmanned surface vessel swarms.

[0053] The number of leaders is no less than the dimension of the configuration space plus one.

[0054] Implementation Method Two: This implementation method is a further detailed description of the technical solution provided in Implementation Method One, specifically:

[0055] An unmanned surface vessel (USV) formation maneuver control method based on a memory caching mechanism, considering intermittent communication failures, includes the following overall process: establishing a motion model, constructing a caching mechanism, defining formation topology, designing an event triggering mechanism, constructing a distributed observer, and implementing affine formation control, as detailed below:

[0056] First, a kinematic and dynamic mathematical model of the unmanned surface vessel (USV) is established to provide a system foundation for subsequent control and observer design. This model includes the USV's position coordinates, heading angle, longitudinal velocity, lateral velocity, and yaw rate in two-dimensional space, and introduces nonlinear coupling terms to describe the USV's motion state under hydrodynamic forces. By setting a set of design parameters, the system dynamics are transformed into a standard form suitable for control and state estimation, providing accurate calculation basis for state feedback in formation control.

[0057] Based on the constructed mathematical model, a limited-capacity buffer is introduced in each unmanned surface vessel (USV) to address the issue of communication interruptions potentially disrupting state updates. The buffer stores historical state data, assigning different weights to data points closer to the current time, with higher weights for more recent data. This buffering mechanism provides approximate state information during temporary communication interruptions, effectively mitigating the impact of packet loss on system control accuracy and providing data support for subsequent triggering mechanisms and observers.

[0058] Based on the caching mechanism and the unmanned surface vessel (USV) state model, the topology and formation configuration of the USV swarm are further established. The system communication topology is represented by a directed graph, with each USV corresponding to a graph node, and information interaction between adjacent USVs is defined by edges. Based on this topology, the USV swarm is divided into two categories: leaders and followers. The leader is responsible for determining the overall formation's target configuration and path trajectory, while followers perform local control based on neighbor information and the leader's state. Affine transformations are used to describe changes in the swarm formation's shape, enabling the overall formation to possess translational, rotational, and scaling maneuvers, laying the foundation for the deployment of subsequent formation control methods.

[0059] Subsequently, a memory-based positive minimum interval dynamic event triggering mechanism is constructed. This mechanism uses state data in a buffer and only triggers communication when the observation error meets a certain threshold, thereby achieving sparse transmission of control information and reducing the system's communication burden. The event triggering mechanism includes an auxiliary variable to describe the dynamic trend of error changes over time, and sets a series of positive design parameters to control the minimum time interval for event triggering, avoiding excessively frequent triggering, ensuring stable system operation, and providing a basis for event triggering in the design of distributed observers.

[0060] Based on the aforementioned event-triggered mechanism, a memory-based fully distributed state observer is designed. The observer receives state information uploaded by neighboring nodes at the trigger time and combines this information with historical data in its local cache to estimate the current desired position and velocity. Specifically, the observer continuously updates the state estimate when communication is available, and uses cached data for prediction correction during communication interruptions. This ensures that even with intermittent communication failures, the system can maintain high-precision observation of the target state, providing real-time feedback for the unmanned surface vessel's (USV) following control.

[0061] Finally, based on the desired state information output by the aforementioned state observer and combined with affine transformation theory, a distributed formation maneuver control method for unmanned surface vessels (USVs) is constructed. This control strategy relies on the trajectory information of the leader USV and achieves synchronous adjustment of the followers to the expected target configuration through real-time calculation of the affine transformation parameters. Since the affine transformation can be defined independently of the dynamics layer, the controller design process does not need to rely on global system information, thus improving the distributed nature and feasibility of the control strategy. Furthermore, this scheme supports time-varying formation adjustments, adapting to the actual operational needs of complex and dynamic aquatic environments.

[0062] Implementation Method 3: Combination Figure 1-4 This embodiment describes the technical solution provided above in further detail through specific examples. Specifically:

[0063] (1) Establish the kinematic and dynamic mathematical model of the unmanned surface vessel. Definition Indicates the position coordinates of the unmanned surface vessel. Indicates the heading angle of the unmanned surface vessel. This indicates the longitudinal and lateral speeds of the unmanned surface vessel. This represents the bow roll rate of the unmanned surface vessel. Define a new variable. ,in, , These are the design parameters. Therefore, the kinematics and dynamics of the unmanned surface vessel can be expressed as:

[0064]

[0065]

[0066] In the formula and The nonlinear coupling term is represented in the following form:

[0067]

[0068] This indicates a control input. , , ; , and This represents the hydrodynamic coefficient. This indicates the mass of the unmanned surface vessel. This represents the inertia matrix.

[0069] (2) Design a cache area.

[0070] Communication interruptions frequently occur in practical applications, meaning that there is no information exchange between ships' communication links during the disconnected time interval. Such communication failures can stem from various adverse factors, such as network attacks, limited communication range, or link failures. Therefore, research using an intermittent communication framework is of great significance to meet the needs of real-world mission scenarios. This communication framework can be divided into two distinct states: communication available and communication interrupted. Let the initial time be... The set of available communication intervals can be defined as ,in satisfy The set corresponding to communication interruptions can be defined as follows: .

[0071] To improve the system's stability, each unmanned surface vessel was equipped with a device of a size of [missing information]. The buffer. Define positive design parameters. These indicate the importance of the data within the buffer and satisfy the condition. and .

[0072] It's worth noting that data in the buffer that is closer to the current time point is more important. Therefore, the parameters... The smaller parameter takes priority over other parameters. and larger parameters This will increase the frequency of event triggering, thereby improving control performance. Additionally, adjusting parameters... The minimum event trigger interval can be changed, for example, by using a larger parameter. This results in a smaller minimum event trigger interval.

[0073] (3) Define the topological relationship and affine stress relationship between unmanned surface vessel clusters.

[0074] The information exchange topology of an unmanned surface vessel swarm system uses a directed graph. It means that, among them, Represents a set of nodes. Let edge set be represented. Consider in Vioclimatic space exist An unmanned surface vessel (USV), the Euclidean coordinates of the USV are defined as follows: ,in Assume the position of each unmanned surface vessel corresponds to the map. The communication relationship between each node and adjacent unmanned surface vessels is shown in the diagram. Each edge of it.

[0075] Configuration yes indivual A finite set of points in space is represented as ,Right now A lumped vector consisting of the position vectors of the unmanned surface vessels (USVs). The configuration specifies the spatial positional relationships of each individual in the USV swarm system, particularly their relative positions and orientations. A framework is composed of... Directed graph in space and configuration Composed of, represented as .

[0076] definition One unmanned surface vessel acts as the leader, defining the rest. An unmanned surface vessel acts as a follower. Under these circumstances, and These are used to represent the sets of leaders and followers, respectively. Configuration It can be broken down into leader configuration and follower configuration, that is and These represent the leader and follower configurations, respectively. Assume each leader... Neither can access information from other unmanned surface vessels, and can be based on the desired trajectory. Navigation, defining the leader's desired configuration as .

[0077] Affine Zhang Cheng: A set of points Affine Zhang Cheng Defined as:

[0078]

[0079] According to the above definition, the affine span of two distinct points is a one-dimensional linear space passing through these two points; the affine span of three non-collinear points is a two-dimensional plane passing through these three points; and the affine span of four non-coplanar points is a three-dimensional space containing these four points. If... If it is restricted to non-negativity, then the affine tension degenerates into a convex hull.

[0080] Given any affine span, it can always be translated to a position containing the origin, thus obtaining a linear space. The dimension of the obtained linear space is defined as the dimension of the affine span. If the dimension of the affine span is... Then the affine tension of these points becomes .

[0081] If there exists a set of scalars that are not all zero. Make the point set satisfy: and So, point set It is affine dependent; otherwise, it is a point set. It is affine independent. Define a configuration matrix. and an augmented matrix They are respectively:

[0082] ,

[0083] If and only if The rows are linearly dependent, that is, there exists Make So, point set It is affine dependent; similarly, if and only if If the rows are linearly independent, then the point set... It is affine and independent. Because have Columns, therefore in space The most existing Each point is affine independent.

[0084] For framework Stress is a set of scalars ,in With edge Related, when node With nodes When the attraction is between them, When node With nodes When there is a repulsive force between them, In other cases, If the stress satisfies the following equation, then it is called equilibrium stress:

[0085]

[0086] This means that the set of nodes Apply to node The forces on it are in equilibrium. It is worth noting that equilibrium stresses can only be determined down to a scalar factor. This means that if... If it is balanced stress, then for any , It is also a balanced stress.

[0087] This can be further represented in matrix form, as follows:

[0088]

[0089] In the formula, For the framework The stress matrix satisfies:

[0090]

[0091] The stress matrix has a similar structure to the graph Laplacian matrix. The difference is that the edge weights in the stress matrix can be positive, negative, or zero, while the edge weights in the graph Laplacian operator are usually positive.

[0092] Consider in space One of the configurations The affine image of this configuration is defined as:

[0093]

[0094] In the formula, It represents affine transformation. It is a matrix that can be used to implement a configuration relative to the nominal configuration. Rotation, scaling, and shearing; It is a vector used to perform translation.

[0095] It is worth noting that any matrix All can be decomposed into singular value decomposition. ,in and It is an orthogonal matrix. It is a diagonal matrix. This indicates that... Any framework can be passed through Obtained by affine motion, i.e., rotation Scaling along different axes Another rotation Finally, translation. .

[0096] when hour, Any point will correspond to a unique pair .when At that time, for any There are infinitely many satisfying of .

[0097] Next, the definition of the target affine formation is given:

[0098] Target Affine Formation: The target frame of the time-varying target affine formation is as follows:

[0099]

[0100] In the formula, and It's about time. Continuous, and may be constant or time-varying. Node The desired position within the target affine formation is: .

[0101] It is worth noting that if each unmanned surface vessel needs to know... , and In order for them to all track their respective desired trajectories, all times must be specified in advance. of , and It is impractical to store this information on each unmanned surface vessel (USV). Consequently, USV swarm systems cannot dynamically respond to navigational environments such as restricted waterways.

[0102] To achieve distributed control of the target cluster, a leader-follower strategy will be adopted. In this framework, the required formation maneuvers are handled by a small number of unmanned surface vessels (USVs) designated as leaders, while the other followers coordinate according to the leaders' actions. As mentioned earlier, there is a one-to-one correspondence between the leader's position and its affine transformation. Therefore, the affine transformation of an unmanned surface vessel (USV) swarm system is achieved by controlling the position of the leaders. Since the number of leaders is typically small, and they are assumed to be effectively controllable, in real-world mission scenarios, leaders may be managed by human operators or intelligent decision-making programs. Under this setting, it is assumed that the position of each leader is equivalent to the desired position in the target formation, i.e. Therefore, the control objective of this chapter is to enable followers to accurately track the desired trajectory based on the leader's location information when the leader reaches the desired position, i.e., when... hour, .

[0103] Next, we'll discuss how to determine the leader. In order to manipulate the entire system through the leader, sufficiently suitable nodes must be selected as the leader. If a configuration in... In this case, the leader's position uniquely determines the follower's position. Next, we give the necessary and sufficient conditions for affine locality.

[0104] Affine-localizable leader condition: if and only if the set of points Affine Zhang Cheng Standard framework It is affine and can be positioned.

[0105] Within the standard framework, any affine tension Unmanned surface vessels can all be selected as leaders to ensure the affines can be located. Because An affine span requires at least d+1 points, therefore the minimum number of leaders is d+1. For example... There need to be at least three leaders. There are at least four leaders. When there are exactly d+1 leaders, the leader affine tension becomes There is a one-to-one correspondence between the position of a leader and the affine transformation (A, b). Given the position p of any leader... l That is, there always exists a solution (A, b) that yields the position p of the follower. f When there are leaders of d+1 or higher, their positions must be interdependent.

[0106] (4) A positive minimum interval dynamic event triggering mechanism is proposed.

[0107] definition and They are respectively and The estimated value. and They represent time The estimated value, Indicates the first The triggering time of the unmanned surface vessel. Define the measurement error. and They are respectively:

[0108]

[0109] Define auxiliary variables and To represent the error dynamics, the specific expression is as follows:

[0110]

[0111] Combining the above formula, we can obtain the following relation:

[0112]

[0113] For ease of design and analysis of control methods, it is represented in a compact form as follows:

[0114]

[0115] Based on a cache, a memory-based distributed positive minimum interval dynamic event triggering mechanism takes the following form:

[0116]

[0117]

[0118] and In the formula, , , and Indicates positive design parameters. , ; , , This indicates that the preset time parameters are being designed. Indicates positive design parameters.

[0119] Based on the above analysis, the triggering time sequence of the unmanned surface vessel can be determined as follows:

[0120]

[0121] In the formula, This indicates the positive design parameters.

[0122] (5) A distributed observer based on a memory event triggering mechanism is proposed.

[0123] To observe the desired position of followers under an intermittent communication mechanism, the fully distributed observer based on memory event triggering is designed as follows:

[0124] when hour:

[0125]

[0126] when hour:

[0127]

[0128] In compact form:

[0129] when hour:

[0130]

[0131] when hour:

[0132]

[0133] In the formula, , , , , , .

[0134] In the design of a fully distributed observer based on memory event triggering, affine transformations are used to endow the unmanned surface vessel (USV) swarm system with significant maneuverability. This allows it to respond more sensitively to dynamic changes in the environment. Notably, the observer is designed based on a motion layer, making the affine transformation independent of the complex dynamic system. This independence enhances the feasibility of the proposed control method. Furthermore, the observer ensures that the error system converges within a preset time.

[0135] The technical effect is as follows:

[0136] A novel affine transformation algorithm is employed to address the maneuver control problem of unmanned surface vessel (USV) swarm systems. Previous formation control schemes were based on fixed formations; this invention considers affine transformations, including translation, rotation, scaling, and combinations thereof. Due to the inherent flexibility of affine formation configuration, the proposed formation maneuver control scheme can perform formation tasks in complex environments, including navigating narrow sea areas and avoiding obstacles. Furthermore, only the leader USV needs to know the obstacle locations to generate feasible formation navigation trajectories with obstacle avoidance capabilities.

[0137] A distributed event-triggered memory observer is proposed. Embedding a buffer within the state observer allows for the storage of previous states, thus improving the observer's accuracy during intermittent communication. Unlike methods that set control signals to zero during communication interruptions, the buffer mitigates the impact of packet loss caused by communication interruptions. Therefore, it provides more reasonable control signals, thereby improving reliability. The proposed fully distributed, memory-triggered observer only needs to know a subset of the leader's state; by combining this with information from its neighbors, it can observe its desired state in real time. Furthermore, the proposed observer eliminates dependence on global information, enhancing its practicality.

[0138] A memory-based dynamic event triggering mechanism is proposed, in which the unmanned surface vessel (USV) only transmits its observed state to its neighbors when a trigger condition is met. This strategy effectively avoids continuous communication, thereby significantly reducing communication complexity and the possibility of system failure. It is worth emphasizing that the triggering mechanism can be conceptualized as a timer, with the trigger interval corresponding to... from The time required to reduce to zero, and its rate of decrease, are determined by system dynamics and design parameters. The decision is made jointly. Each unmanned surface vessel has a positive lower limit for the event triggering interval, and this lower limit is controllable, thus ruling out the occurrence of Zeno's phenomenon.

[0139] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for unmanned surface vessel (USV) formation maneuver control based on a memory caching mechanism, considering intermittent communication failures, characterized in that, include: The steps to establish a kinematic and dynamic mathematical model of the unmanned surface vessel are to provide basic system parameters for subsequent state estimation and control. The steps include: building a cache to store historical state data, setting different weights according to the data time sequence, and using historical data to predict and compensate for state during communication interruptions. The steps to define the communication topology and affine transformation relationship of the unmanned surface vessel (USV) swarm, divide the USVs into leaders and followers, and establish a one-to-one correspondence between the leaders and target configurations. The design of a dynamic event triggering mechanism with minimum interval involves steps such as calculating whether the communication triggering conditions are met based on state error and auxiliary variables, and determining the minimum triggering interval in conjunction with the buffer state. The steps involve constructing a fully distributed state observer based on memory caching, and estimating the desired location and velocity using neighbor states and local cached historical data. A distributed formation controller is designed based on the principle of affine transformation. The controller generates follower control commands based on the desired state output by the observer and the leader trajectory information, thereby realizing the steps of flexible formation maneuver control of the unmanned surface vessel swarm.

2. The unmanned surface vessel (USV) formation maneuver control method based on a memory caching mechanism considering intermittent communication failures as described in claim 1, characterized in that, The cache sets weight values ​​based on how close the data is to the current time; the closer the historical data is to the current time, the higher the weight.

3. The unmanned surface vessel (USV) formation maneuver control method based on a memory caching mechanism considering intermittent communication failures as described in claim 1, characterized in that, In the event triggering mechanism, auxiliary variables are set to describe the dynamic trend of the error, and a set of positive design parameters are set to limit the minimum event triggering interval.

4. The unmanned surface vessel (USV) formation maneuver control method based on a memory caching mechanism considering intermittent communication failures as described in claim 1, characterized in that, The distributed state observer receives and updates the state information of neighboring nodes when communication is available, and uses historical data from the buffer for error compensation when communication is interrupted.

5. The unmanned surface vessel (USV) formation maneuver control method based on a memory caching mechanism considering intermittent communication failures according to claim 1, characterized in that, Affine transformations, including translation, rotation, scaling, or any combination thereof, are used to dynamically adjust the formation of unmanned surface vessel swarms.

6. The unmanned surface vessel (USV) formation maneuver control method based on a memory caching mechanism considering intermittent communication failures according to claim 1, characterized in that, The number of leaders is no less than the dimension of the configuration space plus one.

7. A platooning maneuver control device for unmanned surface vessels based on a memory caching mechanism, considering intermittent communication failures, characterized in that, include: A module for establishing the kinematic and dynamic mathematical model of unmanned surface vessels, providing basic system parameters for subsequent state estimation and control; A module is built to store historical state data, with different weights set according to the data time sequence, and to perform state prediction compensation based on historical data during communication interruptions. A module is used to define the communication topology and affine transformation relationship of the unmanned surface vessel (USV) swarm, divide USVs into leaders and followers, and establish a one-to-one correspondence between the leader and the target configuration. Design a dynamic event triggering mechanism with minimum interval, which calculates whether the communication triggering conditions are met based on state error and auxiliary variables, and determines the minimum triggering interval in combination with the buffer state; Construct a fully distributed state observer based on memory caching, and a module that estimates the desired location and velocity by using neighbor states and local cached historical data; A distributed formation controller is designed based on the principle of affine transformation. It generates follower control commands based on the desired state output by the observer and the leader trajectory information, thus realizing a module for flexible formation maneuver control of unmanned surface vessel swarms.

8. A computer storage medium for storing computer programs, characterized in that, When the computer program is read by the computer, the computer executes the method of claim 1.

9. A computer, comprising a processor and a storage medium, characterized in that, When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 1.

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