Formation tracking control method and system for multiple unmanned ships

Abstract

The invention belongs to the technical field of formation control of multiple unmanned ships, and particularly relates to a formation tracking control method and system for multiple unmanned ships, and the method comprises the steps: obtaining a dynamic model of the multiple unmanned ships; according to the obtained dynamic model and the artificial potential energy function, the formation tracking error of the multiple unmanned ships is calculated; according to the obtained formation tracking error and the specified time performance function, a multi-unmanned-ship control scheme for controlling the synchronization error of the multiple unmanned ships within a preset range is obtained; and designing a virtual controller and an actual controller for the multiple unmanned ships based on the obtained control scheme and backstepping method, controlling followers of the multiple unmanned ships to track leaders, and completing formation tracking control of the multiple unmanned ships.

Description

Technical Field

[0001] This invention belongs to the field of multi-unmanned vessel formation control technology, specifically relating to a multi-unmanned vessel formation tracking control method and system. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In recent years, the demand for unmanned surface vessels (USVs) in various fields of marine development has continued to rise, covering areas such as maritime transportation, marine resource exploration, maritime rescue, and environmental monitoring. Currently, the independent operation mode of a single USV is insufficient to meet the increasingly complex mission requirements of marine exploration and development projects; therefore, the collaborative execution of marine missions by multiple USVs has become an inevitable trend in this field. When performing marine missions, the trajectory of USVs is highly susceptible to internal model uncertainties and interference from complex marine environments. Therefore, achieving high-precision formation control remains one of the core challenges in USV research. Due to limitations in actual communication distance and the risk of collisions between adjacent USVs traveling at close range, the issues of maintaining communication connectivity and avoiding collisions during formation control also warrant in-depth research.

[0004] In practical applications, if the spacing between unmanned surface vessels is too small, it will directly lead to collisions and cause system failure. Furthermore, the communication coverage of each unmanned surface vessel is limited; once outside this range, due to insufficient equipment performance, the communication quality of individual unmanned vessels may degrade, or even lead to communication interruption. The artificial potential field method, with its core advantages of ease of implementation and low computational cost, provides an effective solution to these safety problems. This method ensures communication connectivity while achieving collision-free operation.

[0005] While ensuring safety issues such as collision-free operation and maintaining connectivity, transient and steady-state performance requirements are crucial for the formation control of unmanned surface vessels (USVs). Performance control schemes have been widely adopted to meet these requirements. However, it's worth noting that existing performance control schemes face practical problems and require a feasibility condition to be met. This feasibility condition is that the initial value of the tracking error must fall within the range defined by the performance function.

[0006] When the initial value of the tracking error exceeds the initial value of the performance function, the performance function parameters need to be readjusted to meet the feasibility conditions. In practical applications, existing performance control methods often fail to meet these feasibility conditions. Therefore, removing the influence of the feasibility conditions of existing performance control methods has become an important research direction in this field.

[0007] Currently, there are few solutions that simultaneously achieve precise formation tracking, connectivity maintenance, and collision avoidance. This means that combining artificial potential field methods with predefined performance controls can further improve the overall control performance of multi-unmanned surface vessel systems, thereby better achieving the overall goal of formation control. Summary of the Invention

[0008] To address the aforementioned issues, this invention proposes a formation tracking control method and system for multiple unmanned vessels. Based on collision avoidance and connectivity maintenance, the method controls the performance of multiple unmanned vessels to ensure that adjacent unmanned vessels can always move within an area that maintains connectivity and avoids collisions. This allows the formation tracking error to meet preset transient and steady-state performance indicators, and removes the feasibility conditions in existing performance control methods.

[0009] According to some embodiments, the first aspect of the present invention provides a multi-unmanned vessel formation tracking and control method, which adopts the following technical solution: A method for platooning tracking and control of multiple unmanned vessels includes: Obtain dynamic models of multiple unmanned vessels; Based on the obtained dynamic model and artificial potential energy function, the formation tracking error of multiple unmanned vessels is calculated. Based on the obtained formation tracking error and the specified time performance function, a multi-unmanned vessel control scheme is obtained to control the synchronization error of multiple unmanned vessels within a preset range. Based on the obtained control scheme and backstepping method, a virtual controller and a physical controller are designed for multiple unmanned vessels to control the followers of multiple unmanned vessels to track the leader and complete the formation tracking control of multiple unmanned vessels.

[0010] As a further technical limitation, before obtaining the dynamic model of multiple unmanned vessels, the state signals and communication topology relationships of the multiple unmanned vessels are obtained. A directed graph is used to describe the communication topology relationships between the multiple unmanned vessels in the tracking control process. Specifically: based on a directed graph... This represents the communication topology between multiple unmanned surface vessel systems, where, This represents a set of nodes, where each node represents an unmanned vessel. Represents the set of edges, where each edge corresponds to the first edge. The unmanned ship and the first Information transmission between unmanned vessels; the communication range of each unmanned vessel is limited, when At that time, the first unmanned ships and the first The unmanned boats are called neighbors, among which, It is the first The maximum communication range of the unmanned surface vessel; Neighborhood set of unmanned ships Define the adjacency matrix as follows: ,in, Represents communication weight, if Then the first The unmanned ship can obtain the first Information about the unmanned vessel; if Then the first Unmanned ships cannot obtain the first Information about the unmanned surface vessel; define the in-degree matrix as ,in, Representing the The sum of the in-degrees of unmanned vessels; definition It is a Laplace matrix; define the direct transmission matrix. If the first If an unmanned vessel can obtain information directly from its leader, then... ;otherwise .

[0011] Further, definition , and These represent the ship's position and bow angle in the inertial coordinate system, respectively. , Let $\mathbf$ be the forward velocity, lateral velocity, and bow roll angular velocity of the vessel in the attached coordinate system; then the dynamic model of the multi-unmanned surface vessel is: ;in, and These are the inertia matrix and the external disturbance, respectively. Represents the Coriolis and centripetal acceleration matrices. Here is the damping matrix. It is the control input; rotation matrix for Introducing an auxiliary velocity vector: The dynamic model of multi-unmanned ships is then... ;in, , , ;definition , , and That is, the dynamic equations of many unmanned ships are ;in, This represents the output of a multi-unmanned surface vessel system.

[0012] As a further technical limitation, the artificial potential energy function can be a collision avoidance function based on an inverse hyperbolic sine potential function. Or a connectivity maintenance function based on an inverse hyperbolic sinusoidal potential function. ,Right now ; ;in, Indicates the first Minimum collision avoidance distance for an unmanned surface vessel; The unmanned vessel collision avoidance control input is ; The input for maintaining the connectivity of the unmanned vessel is .

[0013] As a further technical limitation, the specified time performance function is: ;in, These are the initial value of the performance function, the steady-state value, the steady-state time, and the system order; Both represent parameters.

[0014] As a further technical limitation, to address the constraints of formation trajectory tracking, the constrained problem is transformed into an unconstrained problem, and an error transformation function is constructed. ,Right now ;in, For formation tracking error, To account for the error after transformation; coordinate transformation is used to design a virtual controller and a physical controller for multiple unmanned surface vessels, i.e., the virtual controller. for The actual controller for The coordinate transformation is as follows: ;in , ; For formation tracking error, i.e. .

[0015] According to some embodiments, a second aspect of the present invention provides a multi-unmanned vessel formation tracking and control system, employing the following technical solution: A multi-unmanned vessel formation tracking and control system includes: The acquisition module is configured to acquire the dynamic models of multiple unmanned vessels; The calculation module is configured to calculate the formation tracking error of multiple unmanned vessels based on the acquired dynamic model and artificial potential energy function. The control module is configured to obtain a multi-unmanned vessel control scheme that controls the synchronization error of multiple unmanned vessels within a preset range based on the obtained formation tracking error and a specified time performance function; and to design a virtual controller and a real controller for multiple unmanned vessels based on the obtained control scheme and the backstepping method, so as to control the followers of multiple unmanned vessels to track the leader and complete the formation tracking control of multiple unmanned vessels.

[0016] According to some embodiments, a third aspect of the present invention provides a computer-readable storage medium, employing the following technical solution: A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the multi-unmanned vessel formation tracking and control method as described in the first aspect of the present invention.

[0017] According to some embodiments, the fourth aspect of the present invention provides an electronic device, which adopts the following technical solution: An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in the multi-unmanned vessel formation tracking control method as described in the first aspect of the present invention.

[0018] According to some embodiments, the fifth aspect of the present invention provides a computer program product, which adopts the following technical solution: A computer program product includes software code, wherein the program in the software code performs the steps of the multi-unmanned vessel formation tracking and control method as described in the first aspect of the present invention.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention constructs a fixed-time performance function, where the initial value of the performance function is a variable relating to time and the initial value of the formation error, ensuring that the initial value of the performance function is always greater than the initial value of the formation error. This removes the feasibility condition from existing performance control methods. By integrating the artificial potential field method into the fixed-time performance control scheme, precise formation tracking, communication connectivity, and collision avoidance control can be achieved, improving the overall control performance of multi-unmanned vessel systems and thus better achieving the overall goal of formation control. Attached Figure Description

[0020] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0021] Figure 1 This is a flowchart of the multi-unmanned vessel formation tracking control method in Embodiment 1 of the present invention; Figure 2 This is a detailed schematic diagram illustrating the steps of the multi-unmanned vessel system control method in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the communication topology of the multi-unmanned vessel system in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the actual motion trajectory of the multi-unmanned vessel system in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the trajectory tracking curves of the multi-unmanned vessel system in the lateral, longitudinal, and bow angle directions in Embodiment 1 of the present invention; Figure 6This is a schematic diagram of the lateral tracking error curve of the multi-unmanned vessel formation in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the lateral tracking error curve of the multi-unmanned vessel formation in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the bow roll angle tracking error curve of a multi-unmanned vessel formation in Embodiment 1 of the present invention; Figure 9 This is a schematic diagram illustrating the relative distance between adjacent unmanned vessels in Embodiment 1 of the present invention when the artificial potential field algorithm is not used; Figure 10 This is a schematic diagram illustrating the relative distance between adjacent unmanned vessels when using the artificial potential field algorithm in Embodiment 1 of the present invention. Figure 11 This is a structural block diagram of the multi-unmanned vessel formation tracking control system in Embodiment 2 of the present invention. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0026] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0027] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0028] Example 1 Embodiment 1 of this invention introduces a method for formation tracking and control of multiple unmanned vessels.

[0029] like Figure 1 The method for formation tracking and control of multiple unmanned vessels shown includes: Obtain dynamic models of multiple unmanned vessels; Based on the obtained dynamic model and artificial potential energy function, the formation tracking error of multiple unmanned vessels is calculated. Based on the obtained formation tracking error and the specified time performance function, a multi-unmanned vessel control scheme is obtained to control the synchronization error of multiple unmanned vessels within a preset range. Based on the obtained control scheme and backstepping method, a virtual controller and a physical controller are designed for multiple unmanned vessels to control the followers of multiple unmanned vessels to track the leader, thereby completing the formation tracking control of multiple unmanned vessels.

[0030] like Figure 2 As shown in the figure, this embodiment provides a method for controlling the specified performance of a multi-unmanned surface vessel system with collision-free operation and connectivity maintenance. The detailed implementation process includes: Step 1: Consider as follows Figure 3 The directed graph of the multi-unmanned vessel system shown describes the communication topology among the multiple unmanned vessels in formation tracking control.

[0031] Specifically: The communication topology between multiple unmanned surface vessel systems can be represented by a directed graph. Description, in which, This represents a set of nodes, where each node represents an unmanned vessel. Represents the set of edges, where each edge corresponds to the first edge. The unmanned ship and the first Information transmission between unmanned surface vessels (USVs). Because the communication range of each USV is limited, when... When, it indicates the first unmanned ships and the first The neighbors of the unmanned boat, among them, It is the first The maximum communication range of the unmanned surface vessel. Neighborhood set of unmanned ships .

[0032] Define the adjacency matrix as ,in Represents communication weight, if This means the first Unmanned ships can obtain the first Information about the unmanned vessel; if This means the first Unmanned ships cannot obtain the first Information about the unmanned surface vessel. Define the in-degree matrix as... ,in Representing the The sum of the in-degrees of unmanned vessels; definition It is a Laplace matrix. Define the direct transfer matrix. If the first If an unmanned vessel can obtain information directly from its leader, then... ;otherwise .

[0033] Step 2: Establish the dynamic model of the unmanned vessel as follows: ; in, , and These are the ship's position and bow angle in an inertial coordinate system. , These are the ship's forward velocity, lateral velocity, and bow roll angular velocity in the attached coordinate system.

[0034] and These are the inertia matrix and the external disturbance, respectively. Represents the Coriolis and centripetal acceleration matrices. Here is the damping matrix. It's the control input. Rotation matrix. The expression is ; To simplify the derivation, an auxiliary velocity vector is created: The dynamics model of multiple unmanned vessels is rewritten as follows: ; in, , , .

[0035] definition , , and The dynamic equations of the multi-unmanned vessel are rewritten as follows: ; in, This represents the output of a multi-unmanned surface vessel system.

[0036] For ease of subsequent calculations, define As the first The unmanned ship and the first The relative positions of the unmanned vessels , .

[0037] Step 3: To ensure that adjacent unmanned vessels can always move within an area that maintains connectivity and avoids collisions, an artificial potential energy function is designed. The designed artificial potential energy function is as follows: (1) A collision avoidance method based on an inverse hyperbolic sinusoidal potential function, the specific form of which is defined as follows: ; in, Indicates the first The minimum collision avoidance distance for an unmanned surface vessel. The unmanned vessel collision avoidance control input is .

[0038] (2) A connectivity maintenance method based on an inverse hyperbolic sinusoidal potential function, the specific form of which is defined as follows: ; No. The input for maintaining the connectivity of the unmanned vessel is .

[0039] Step 4: In order to enable the convergence time to be arbitrarily set in advance and to group the tracking error to converge to a predetermined neighborhood of the origin.

[0040] The fixed-time performance function in this embodiment is: ; in, These are the initial value of the performance function, the steady-state value, the settling time, and the system order. Represents a positive constant.

[0041] To address the constraints of formation trajectory tracking, the constrained problem is transformed into an unconstrained problem, and the error transformation function is constructed as follows: .

[0042] Step 5: Based on the dynamic equations of the multi-unmanned vessel system, design a controller using the backstepping method.

[0043] First, formation tracking error, i.e. .

[0044] Secondly, the controller design process strictly follows the following coordinate transformations, namely... ; in, It is a virtual controller.

[0045] Step 1: Construct the Lyapunov function, i.e. ; right Differentiating the function yields: ; in, .

[0046] Design a virtual controller, namely: .

[0047] To address the "complexity explosion problem" that easily occurs during the differentiation of virtual control laws, a second-order sliding mode integral filter is introduced to estimate the derivative of the virtual control law. Specifically, ,in This indicates the state of the second-order sliding diaphragm integrator filter. This represents the estimation error.

[0048] Step 2: Construct the Lyapunov function, i.e. ; right Differentiating the function yields: ; The actual controller is designed as follows:

[0049] ; in, , .

[0050] Step Six: To analyze whether the designed virtual controller and actual controller can stabilize the multi-unmanned vessel system, a Lyapunov function is selected: ; right Taking the derivative, we get

[0051] ; in, , .

[0052] Further simplification yields: ; ; in , .

[0053] All signals of the multi-unmanned surface vessel system are bounded, and the stability of the system has been proven.

[0054] To demonstrate the feasibility, effectiveness, and correctness of this embodiment, the following simulation experiments were conducted: In this simulation experiment, a controller with collision avoidance, connectivity maintenance and performance constraints was designed for a multi-unmanned surface vessel system with external disturbances to achieve formation tracking control of the unmanned surface vessels.

[0055] During the controller design process, the unmanned surface vessel system model parameters were set as follows: ; ; The leader signal is set as follows: .

[0056] The initial parameters for the unmanned surface vessel are set as follows: , , , , , The parameters related to the fixed performance function are selected as follows: . .

[0057] Minimum collision avoidance distance Maximum communication distance .

[0058] A simulation experiment was conducted on the control method of this embodiment. Figure 4 The movement trajectories of five unmanned ships are displayed. Figure 5 Five unmanned boats were displayed in a horizontal position. Vertical The tracking trajectory and the corresponding bow roll angle The tracking curves show that each unmanned vessel can track the leader's signal very well. Figure 6 , Figure 7 and Figure 8 The system's formation error is illustrated in the figure. It can be seen from the graph that the initial value of the formation error is always less than the initial value of the performance function, eliminating the feasibility condition in existing performance control regulations; simultaneously, from... Figure 6 , Figure 7 and Figure 8 It can be seen that the formation error is within the preset time ( All converge to the predetermined boundary. Figure 9Without employing an artificial potential field algorithm, the relative distances between USV1 and USV2, and between USV4 and USV5, will exceed the maximum communication range, potentially causing signal reception interruptions and affecting normal communication of the unmanned vessels. Simultaneously, the relative distances between USV2 and USV3, and between USV3 and USV4, are less than the minimum collision avoidance distance, posing a collision risk. Figure 10 This demonstrates the relative distances between adjacent unmanned vessels using the artificial potential field method. (Comparison) Figure 9 and Figure 10 It is evident that the relative distances between all adjacent unmanned vessels are within a safe range. Therefore, simulations demonstrate the effectiveness of the proposed control scheme.

[0059] In summary, all signals in the system are bounded, and simulation results demonstrate the effectiveness of the proposed collision avoidance, connectivity maintenance, and performance constraint control scheme.

[0060] This embodiment uses a backstepping design framework to address the formation tracking control problem of multiple unmanned surface vessels (USVs). Through an artificial potential field-based control strategy, adjacent USVs can always move within an area that maintains connectivity and avoids collisions. Subsequently, a fixed-time performance control method is designed to ensure that the formation tracking error meets preset transient and steady-state performance indicators. The initial value of the performance function is always greater than the initial value of the formation error, eliminating the feasibility conditions in existing performance control methods. The artificial potential field method is integrated into the fixed-time performance control scheme. Through controller design, accurate formation tracking, connectivity maintenance, and collision avoidance control can be achieved. This embodiment, through stability analysis and simulation design, ensures that all signals are bounded, proving the effectiveness of the proposed control scheme.

[0061] This embodiment constructs a fixed-time performance function, where the initial value of the performance function is a variable relating to time and the initial value of the formation error. This ensures that the initial value of the performance function is always greater than the initial value of the formation error, removing the feasibility condition from existing performance control methods. By integrating the artificial potential field method into the fixed-time performance control scheme, precise formation tracking, communication connectivity, and collision avoidance control can be achieved. This further enhances the overall control performance of multi-unmanned surface vessel systems, thereby better achieving the overall goal of formation control.

[0062] Example 2 Embodiment 2 of the present invention introduces a formation tracking and control system for multiple unmanned vessels.

[0063] like Figure 11 The multi-unmanned vessel formation tracking and control system shown includes: The acquisition module is configured to acquire the dynamic models of multiple unmanned vessels; The calculation module is configured to calculate the formation tracking error of multiple unmanned vessels based on the acquired dynamic model and artificial potential energy function. The control module is configured to obtain a multi-unmanned vessel control scheme that controls the synchronization error of multiple unmanned vessels within a preset range based on the obtained formation tracking error and a specified time performance function; and to design a virtual controller and a real controller for multiple unmanned vessels based on the obtained control scheme and the backstepping method, so as to control the followers of multiple unmanned vessels to track the leader and complete the formation tracking control of multiple unmanned vessels.

[0064] The detailed steps are the same as those of the multi-unmanned vessel formation tracking and control method provided in Example 1, and will not be repeated here.

[0065] Example 3 Embodiment 3 of the present invention provides a computer-readable storage medium.

[0066] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the multi-unmanned vessel formation tracking control method as described in Embodiment 1 of the present invention.

[0067] The detailed steps are the same as those of the multi-unmanned vessel formation tracking and control method provided in Example 1, and will not be repeated here.

[0068] Example 4 Embodiment 4 of the present invention provides an electronic device.

[0069] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps in the multi-unmanned vessel formation tracking control method as described in Embodiment 1 of the present invention.

[0070] The detailed steps are the same as those of the multi-unmanned vessel formation tracking and control method provided in Example 1, and will not be repeated here.

[0071] Example 5 Embodiment 5 of the present invention provides a computer program product.

[0072] A computer program product includes software code, wherein the program in the software code performs the steps of the multi-unmanned vessel formation tracking and control method as described in Embodiment 1 of the present invention.

[0073] The detailed steps are the same as those of the multi-unmanned vessel formation tracking and control method provided in Example 1, and will not be repeated here.

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0079] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0080] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A method for formation tracking and control of multiple unmanned vessels, characterized in that, include: Obtain dynamic models of multiple unmanned vessels; Based on the obtained dynamic model and artificial potential energy function, the formation tracking error of multiple unmanned vessels is calculated. Based on the obtained formation tracking error and the specified time performance function, a multi-unmanned vessel control scheme is obtained to control the synchronization error of multiple unmanned vessels within a preset range. Based on the obtained control scheme and backstepping method, a virtual controller and a physical controller are designed for multiple unmanned vessels to control the followers of multiple unmanned vessels to track the leader and complete the formation tracking control of multiple unmanned vessels.

2. The multi-unmanned vessel formation tracking and control method as described in claim 1, characterized in that, Before obtaining the dynamic model of multiple unmanned surface vessels (USVs), the state signals and communication topology of the USVs are acquired. A directed graph is used to describe the communication topology between the USVs in tracking control. Specifically: based on directed graphs... This represents the communication topology between multiple unmanned surface vessel systems, where, This represents a set of nodes, where each node represents an unmanned vessel. Represents the set of edges, where each edge corresponds to the first edge. The unmanned ship and the first Information transmission between unmanned vessels; the communication range of each unmanned vessel is limited, when At that time, the first unmanned ships and the first The unmanned boats are called neighbors, among which, It is the first The maximum communication range of the unmanned surface vessel; Neighborhood set of unmanned ships Define the adjacency matrix as follows: ,in, Represents communication weight, if Then the first The unmanned ship can obtain the first Information about the unmanned vessel; if Then the first Unmanned ships cannot obtain the first Information about the unmanned surface vessel; define the in-degree matrix as ,in, Representing the The sum of the in-degrees of unmanned vessels; definition It is a Laplace matrix; define the direct transmission matrix. If the first If an unmanned vessel can obtain information directly from its leader, then... ;otherwise .

3. The multi-unmanned vessel formation tracking and control method as described in claim 2, characterized in that, definition , and These represent the ship's position and bow angle in the inertial coordinate system, respectively. , Let $\mathbf$ be the forward velocity, lateral velocity, and bow roll angular velocity of the vessel in the attached coordinate system; then the dynamic model of the multi-unmanned surface vessel is: ;in, and These are the inertia matrix and the external disturbance, respectively. Represents the Coriolis and centripetal acceleration matrices. Here is the damping matrix. It is the control input; rotation matrix for Introducing an auxiliary velocity vector: The dynamic model of multi-unmanned ships is then... ;in, , , ;definition , , and That is, the dynamic equations of many unmanned ships are ;in, This represents the output of a multi-unmanned surface vessel system.

4. The multi-unmanned vessel formation tracking and control method as described in claim 1, characterized in that, The artificial potential function can be a collision avoidance function based on an inverse hyperbolic sine potential function. Or a connectivity maintenance function based on an inverse hyperbolic sinusoidal potential function. ,Right now ; ;in, Indicates the first Minimum collision avoidance distance for an unmanned surface vessel; The unmanned vessel collision avoidance control input is ; The input for maintaining the connectivity of the unmanned vessel is .

5. The multi-unmanned vessel formation tracking and control method as described in claim 1, characterized in that, The specified time performance function is: ;in, These are the initial value of the performance function, the steady-state value, the steady-state time, and the system order; Both represent parameters.

6. The multi-unmanned vessel formation tracking and control method as described in claim 1, characterized in that, To address the constraints of formation trajectory tracking, the constrained problem is transformed into an unconstrained problem, and an error transformation function is constructed. ,Right now ;in, For formation tracking error, To account for the error after transformation; coordinate transformation is used to design a virtual controller and a physical controller for multiple unmanned surface vessels, i.e., the virtual controller. for The actual controller for The coordinate transformation is as follows: ;in , ; For formation tracking error, i.e. .

7. A multi-unmanned vessel formation tracking and control system, characterized in that, include: The acquisition module is configured to acquire the dynamic models of multiple unmanned vessels; The calculation module is configured to calculate the formation tracking error of multiple unmanned vessels based on the acquired dynamic model and artificial potential energy function. The control module is configured to obtain a multi-unmanned vessel control scheme that controls the synchronization error of multiple unmanned vessels within a preset range based on the obtained formation tracking error and a specified time performance function; and to design a virtual controller and a real controller for multiple unmanned vessels based on the obtained control scheme and the backstepping method, so as to control the followers of multiple unmanned vessels to track the leader and complete the formation tracking control of multiple unmanned vessels.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the multi-unmanned vessel formation tracking control method as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of the multi-unmanned vessel formation tracking control method as described in any one of claims 1-6.

10. A computer program product, comprising software code, characterized in that, The program in the software code performs the steps of the formation tracking control method for multiple unmanned vessels as described in any one of claims 1-6.

Images