An unmanned ship cluster formation control method and device

Abstract

This invention provides a method and apparatus for unmanned surface vessel (USV) swarm formation control, relating to the field of USV swarm formation technology. The method includes: establishing a kinematic and dynamic model of the USVs and an undirected communication topology and aperiodic discrete sampling communication mechanism for the USV swarm; obtaining the position error vector of each USV in the swarm based on the number of swarm members and the desired formation information; performing state expansion based on the position error vectors of the USVs to obtain a state error vector, and constructing a state error system for each USV; obtaining a global state error closed-loop system for the USV swarm based on the state error system; decomposing the global state error closed-loop system into a formation trajectory subsystem and an equivalent disturbance subsystem, generating a virtual control law, performing an inverse state transformation on the virtual control law to obtain a real control law, and using the real control law to perform formation control of the USV swarm. This invention improves the overall control stability of the USV swarm formation.

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