A multi-uuv path following formation control method based on pass point triggering mechanism

By employing dual-delay compensation and adaptive speed compensation control based on a point-triggered mechanism, the problems of communication delay and slow speed response in multi-UUV systems are solved, enabling fast and stable control of multi-UUV formations and improving the accuracy and safety of formation control.

CN122672579APending Publication Date: 2026-09-01NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Application Number
CN202610666828.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-05-14
Publication Date
2026-09-01

AI Technical Summary

Technical Problem

Multi-UUV systems suffer from communication delays and slow speed response in path-following platoon control, leading to the accumulation of platoon errors and reducing the accuracy and robustness of platoon control.

Method used

A control method based on over-point triggering mechanism is adopted. By using dual time delay compensation and adaptive speed compensation control, the longitudinal and lateral control problems are decoupled. The position estimation and line-of-sight guidance method of the navigator UUV are used to achieve rapid convergence of longitudinal and lateral formation errors.

Benefits of technology

Under conditions of complex communication delays and slow UUV speed response, this method achieves rapid and stable convergence of multi-UUV formations, improving the robustness and security of formation control.

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Abstract

This invention specifically relates to a multi-UUV path-following formation control method based on a point-triggered mechanism. It addresses the problems of complex time delay lag in navigator information under polling broadcast mechanisms, as well as the accumulation of formation errors and difficulties in formation convergence caused by limited follower speed control frequency and slow speed response. This invention employs a technical approach combining dual time delay compensation and point-triggered control: by compensating for the time delay of navigator position information, the real-time performance and accuracy of navigator state estimation are improved; the point-triggered mechanism is used to adaptively adjust follower speeds, and lateral convergence is achieved in conjunction with line-of-sight guidance. This invention improves the stability, convergence speed, and robustness of multi-UUV formation control under complex communication delays and actuator limitations, thereby solving the technical problems of low control accuracy, slow convergence, and oscillation caused by information lag and limited speed adjustment in existing multi-UUV path-following formation techniques.
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