Control method for aircraft / vessel coordinated trigger communication path tracking based on grid search

Abstract

To provide a control method for aircraft / vessel coordinated trigger communication path tracking based on grid search.SOLUTION: Based on a search radius of an aircraft / vessel cooperative system, a search grid covering a search area is created. A reference path for a virtual vessel VS based on the search grid is created, and a reference path for a virtual aircraft VA is obtained, and trigger rules are obtained via a trigger communication mechanism between the virtual vessel VS and the virtual aircraft VA. Finally, a virtual control law is obtained to stabilize errors of the position and attitude between the aircraft / vessel cooperative system and the reference path. Based on the virtual control law, the aircraft / vessel cooperative system is driven to execute a maritime search mission.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the application technical field of ship-unmanned aerial vehicle cooperative control process and maritime search and rescue, and in particular to a control method for aircraft / ship cooperative trigger communication path tracking based on grid search. [Background technology]

[0002] The problem of aircraft / ship cooperative path tracking is a current research focus, and some research results have already been achieved in addressing issues that exist in the control of aircraft / ship cooperative path tracking, such as model uncertainty, external interference, and project mission limitations. Prior art (e.g., Patent Documents 1 and 2) typically uses neural networks and fuzzy systems to self-adaptively compensate for model uncertainty. However, designing self-adaptive parameters using neural networks increases the complexity of control algorithm design and the difficulty of verifying stability analysis. Patent Document 1 discloses a dynamic event triggering method, which reduces the transmission load of control commands (controller-actuator channels), but does not consider the signal transmission load between all sensor-controller-actuator channels. Furthermore, due to differences in model dimensions and actuator layouts, prior art designs the guidance and control algorithms for aircraft / ship cooperative systems independently, resulting in a significant amount of duplication in the controller design process and failing to achieve the goal of simplifying the control algorithm.

[0003] Furthermore, in single-ship-single-aircraft cooperative control and multi-ship-multi-aircraft cooperative control, a virtual ship is typically designed as the ship's reference path, and a virtual aircraft is designed as the unmanned aerial vehicle's reference path, and the cooperative objective is achieved based on real-time updated information. However, in actual processes, the limited communication bandwidth between the ship and unmanned aerial vehicle is not taken into account, and real-time communication can lead to communication redundancy. Event trigger technology is often applied to control loops to reduce the burden of transmitting control commands, but the communication load between the aircraft and ship systems is not taken into account. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Chinese Patent Application Publication No. 116047909 [Patent Document 2] Chinese Patent Application Publication No. 113419428 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made in view of the above technical problems, and provides a control method for aircraft / ship cooperative triggered communication path tracking based on grid searching. [Means for solving the problem]

[0006] The technical means of the present invention are as follows:

[0007] One aspect of the present invention is a method for controlling grid-search-based aircraft / ship cooperative triggered communication path tracking, comprising: Step S1 of creating a nonlinear aircraft / ship coordination model of the aircraft / ship coordination system based on a dynamic model of the underactuated ship; Step S2: obtaining the width of a grid cell in the search grid based on the search radius of the aircraft / ship cooperative system, and creating a search grid that covers the search area; Step S3: generating a reference path of a virtual vessel VS based on a search grid according to an aircraft / vessel cooperation nonlinear model of the aircraft / vessel cooperation system; Step S4: obtaining a reference path of a virtual aircraft VA based on the reference path of the virtual ship VS, and obtaining a trigger rule based on a trigger communication mechanism between the virtual ship VS and the virtual aircraft VA; and step S5 of obtaining a position and attitude error between the aircraft / ship coordination system and the reference path based on the aircraft / ship coordination nonlinear model of the aircraft / ship coordination system and the reference path of a virtual aircraft VA, obtaining a virtual control law for stabilizing the position and attitude error between the aircraft / ship coordination system and the reference path based on the trigger rule and a control input expressed as a force or moment in the aircraft / ship coordination system, and driving the aircraft / ship coordination system according to the virtual control law to perform a maritime search mission.

[0008] Furthermore, in S4, the trigger rule is obtained by the following steps S41 to S44: Step S41: Obtain the reference trajectory of the virtual aircraft VA according to the formulas (4) and (5);

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[0009] Furthermore, in the step S1, the aircraft / ship cooperation nonlinear model of the aircraft / ship cooperation system is created by the formula (1),

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[0010] Furthermore, in S2, the width of the grid cell is obtained by equation (2),

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[0011] Furthermore, in S3, the reference path of the virtual ship VS is obtained by equation (3),

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[0012] Furthermore, in S5, the position and attitude errors between the aircraft / ship cooperative system and the reference path are obtained by Equation (10):

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[0013] Furthermore, in S5, the virtual control law is obtained by the following S51 to S53: Step S51: Create a virtual control law according to equation (11);

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[0014] The grid-search-based aircraft / ship cooperative triggered communication path tracking control method of the present invention creates a search grid covering the search area based on the search radius of the aircraft / ship cooperative system, creates a reference path for the virtual ship VS based on the search grid, obtains the reference path for the virtual aircraft VA, obtains a trigger rule according to the trigger communication mechanism between the virtual ship VS and the virtual aircraft VA, and finally obtains a virtual control law for stabilizing the position and attitude error between the aircraft / ship cooperative system and the reference path, and drives the aircraft / ship cooperative system to perform a maritime search mission based on the virtual control law. The present invention solves the problem of aircraft / ship path coordination under communication-limited conditions and ensures that the aircraft / ship cooperative system can achieve grid-based maritime search path tracking missions with low communication load, and has potential application value in improving aircraft / ship cooperative control theory and accelerating the application of theoretical algorithms to engineering. [Brief explanation of the drawings]

[0015] In order to more clearly explain the embodiments of the present invention or the technical means in the prior art, drawings related to the embodiments or the prior art will be briefly introduced below. It goes without saying that the following drawings are only some embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without any creative work.

[0016] [Figure 1] 2 is a flowchart of a control method for aircraft / ship cooperative triggered communication path tracking based on grid searching according to the present invention; [Figure 2a] 1 is a circular reference path for aircraft / ship cooperation based on trigger communication in an embodiment of the present invention. [Figure 2b] 1 is a straight-line circular reference path for aircraft / ship cooperation based on trigger communication in an embodiment of the present invention; [Figure 3a] 10 is a diagram showing the speed change curves of the circular path of VS and VA in an embodiment of the present invention. [Figure 3b] 10 is a diagram showing the speed change curves of the straight circular path of VS and VA in an embodiment of the present invention. [Figure 4a]1 is a trigger communication interval between a VS and a VA of a circular path in an embodiment of the present invention. [Figure 4b] 10 is a trigger communication interval between VS and VA of a straight circular path in an embodiment of the present invention. [Figure 5a] 1 is a three-dimensional schematic diagram of an aircraft / ship cooperative path tracking trajectory based on a grid search mission in an embodiment of the present invention; [Figure 5b] FIG. 2 is a two-dimensional schematic diagram of an aircraft / ship cooperative path tracking trajectory based on a grid search mission in an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] In order to clarify the purpose, technical means and advantages of the embodiments of the present invention, the technical means of the embodiments of the present invention will be described below clearly and completely with reference to the drawings in the embodiments of the present invention, and it goes without saying that the described embodiments are not all embodiments but only some embodiments of the present invention. Any other embodiments that a person skilled in the art can obtain based on the embodiments of the present invention without any creative effort shall all be included in the scope of protection of the present invention.

[0018] Specifically, for the control of aircraft / ship cooperative path tracking in maritime search missions, the improved aircraft / ship cooperative nonlinear model provides the basis for path planning, guidance, and control design. The current "International Air and Maritime Search and Rescue Manual" specifies four basic methods for maritime search, but these do not apply to searches in irregular sea areas. Therefore, this embodiment provides a grid-search-based control method for aircraft / ship cooperative triggered communication path tracking for aircraft / ship cooperative systems.

[0019] This embodiment provides a control method for aircraft / ship cooperative triggered communication path tracking based on grid searching, which, as shown in FIG. 1, includes the following steps:

[0020] Step S1: By recreating the dynamic model of the underactuated vessel, a nonlinear aircraft / ship coordination model of the aircraft / ship coordination system is created with a consistent representation based on the dynamic model of the underactuated vessel; Preferably, a nonlinear aircraft / ship coordination model of the aircraft / ship coordination system is created according to equation (1);

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[0021] Specifically, to address the issues of model latitude differences and actuator isomorphism in the aircraft / ship cooperative system, the dynamic model of the underactuated vessel is recreated and converted into a second-order differential form of position in an inertial coordinate system. This creates a nonlinear aircraft / ship cooperative model for the aircraft / ship cooperative system based on a consistent information representation, avoiding a large amount of duplication in the controller design process and achieving the goal of simplifying the control algorithm. A consistent representation of the model information of the underactuated vessel and the unmanned aerial vehicle can be achieved.

[0022] Step S2: Based on the search radius of the aircraft / ship cooperative system, obtain the width of the grid cell in the search grid, create a search grid covering the search area, and determine the search waypoints; Preferably, the width of the grid cell is obtained according to equation (2):

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[0023] The automatic control system needs to deduce and generate a waypoint path based on grid cells in real time. Specifically, according to the width of the grid cells and the number of grid cells set, a search grid is generated by a conventional method in this field, and the waypoints of the search path of the under-powered vessel are determined. Specifically, the center coordinate value of the grid cell is used as the coordinate of the waypoint, that is,

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[0024] Step S3: Based on the aircraft / ship cooperation nonlinear model of the aircraft / ship cooperation system, a reference path of the virtual ship VS based on the search grid is generated.

[0025] Specifically, in this embodiment, it is assumed that the reference trajectory of the underactuated vessel is generated in real time by the virtual vessel VS, and the reference trajectory of the unmanned aerial vehicle is generated in real time by the virtual aircraft VA. The motion form of the virtual vessel VS, i.e., the reference trajectory of the virtual vessel VS, is obtained according to Equation (3),

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[0026] Step S4: Based on the reference path of the virtual ship VS, obtain the reference path of the virtual aircraft VA, the reference information of the virtual aircraft VA including the position and attitude of the virtual aircraft VA, and based on the trigger communication mechanism between the virtual ship VS and the virtual aircraft VA, obtain a trigger rule.

[0027] Preferably, the trigger rule is acquired through steps S41 to S44.

[0028] Step S41: Obtain the reference trajectory of the virtual aircraft VA according to equation (4); Specifically, based on the leader-follower formation configuration, the reference trajectory of the virtual aircraft VA is obtained in the conventional manner as follows:

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[0029] The generation of the reference trajectory for the virtual aircraft (VA) described above relies on a leader-follower structure, using only position and attitude information, and assuming that the velocity information matches that of the virtual vessel (VS). This is a special case of aircraft-vessel coordination problems, and cannot be applied when a coordinated formation is not formed at the initial position, and during navigation, the desired formation cannot be maintained due to speed differences caused by actuator failure or external interference.

[0030] In this embodiment, a new VA deduction equation is designed as shown in Equation (5),

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[0031] Step S42: In order to solve the coordination problem between the virtual ship VS and the virtual aircraft VA, in this embodiment, the corrected velocity

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[0032] Step S43: Correction speed

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[0033] Step S44: Create a trigger rule according to formula (9);

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[0034] Specifically, the event trigger in this embodiment is a corrected speed obtained by correcting the speed of the virtual aircraft.

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[0035] Furthermore, in order to ensure that the aircraft / ship cooperative system can track the reference path with the desired accuracy, in this embodiment, a control algorithm for aircraft / ship cooperative path tracking based on robust limit compensation technology is designed using backstepping technology as follows, specifically: Step S5: Based on the aircraft / ship coordination nonlinear model of the aircraft / ship coordination system and the reference path of the virtual aircraft VA, obtain the position and attitude errors between the aircraft / ship coordination system and the reference path, and based on the control inputs expressed in terms of forces / moments in the aircraft / ship coordination system, obtain a virtual control law for stabilizing the position and attitude errors between the aircraft / ship coordination system and the reference path, and further drive the aircraft / ship coordination system based on the virtual control law to perform the maritime search mission.

[0036] Preferably, obtaining the position and attitude errors between the aircraft / ship cooperative system and the reference path according to equation (10);

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[0037] In order to stabilize the above aircraft / ship coordination error, the method for obtaining the virtual control law is designed as follows:

[0038] Step S51: Create a representation of the virtual control law as in equation (11),

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[0039] Step S52: As shown in equation (12), the virtual control law is

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[0040] Step S53:

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[0041] In this embodiment, by creating an information-consistent aircraft / ship coordination model, it is possible to express the aircraft / ship coordination control design process using state space equations, greatly simplifying the control algorithm design flow. That is, in the controller design process, each variable contains the actual state information of the three control loop paths of the aircraft / ship coordination system. In addition, the robust limit compensation technology of this embodiment can directly perform robust limit compensation for model nonlinear items in the final controller, avoiding the design complexity problems associated with the introduction of self-adaptive terms in the prior art.

[0042] To verify the accuracy and effectiveness of the aircraft / ship cooperative path tracking of the present invention, two simulation examples were carried out on a numerical simulation platform. Simulation example A is a verification example of the cooperative path planning of the present invention, which verifies the aircraft / ship cooperative reference path deduction process when the initial positions are not in formation under communication-limited conditions. Simulation example B is an experiment simulating the aircraft / ship cooperative system path tracking based on the grid search mission of the present invention.

[0043] Simulation Example A: Here, one VS and two VAs are selected to generate an aircraft / ship cooperative reference trajectory based on the trigger communication policy. Since the aircraft / ship cooperative system in maritime search missions is usually applied based on an underactuated vessel, in this simulation example, we assume that the VS is not affected by the adjacent VAs.

[0044] The main simulation results for this part are shown in Figures 2 to 4. Figures 2a and 2b show the desired cooperative paths, including a circular path and a straight circular path, respectively. As can be seen from the figures, by adopting a trigger communication scheme, the VS and VA can achieve the cooperative goal of the desired formation without considering their initial positions. As can be seen from Figures 3a and 3b, since the initial positions of the VS and VA are not in the desired formation, the VA cannot achieve the desired formation until the VS and VA form the desired formation. 2accelerates first in the initial phase, then decelerates, and VA 1 will first slow down in the initial phase and then accelerate (VA 1 represents the first VA, and VA 2 represents the second VA, and VS 1 (represents the first VS). Furthermore, due to the advantage of the triggered communication scheme, the VA speed is updated in a stepwise manner, i.e., the VA speed remains constant within the triggered communication interval until the trigger condition is met and the next speed value is updated. Figures 4a and 4b show the trigger interval of the communication channel between the VS and the VA. As can be seen from Figures 4a and 4b, while realizing the reference path of Figures 2a and 2b, the communication transmission frequency is significantly lower than the communication frequency during continuous transmission.

[0045] Simulation Example B The algorithm of the present invention realizes a cooperative aircraft / ship search mission in irregular areas under the presence of external interference, and achieves complete coverage of the search area by establishing a grid. In this simulation example, the underactuated vessel's search radius is set to 100m, and the two unmanned aerial vehicles' search radii are both set to 150m. Based on the search radii, the grid width is set to 800m, and the search area is composed of 20 grids. The search path consists of eight waypoints: W1 (0m; 400m), W2 (2500m; 400m), W3 (2500m; 1200m), W4 (-400m; 1200m), W5 (-400m; 2000m), W6 (2800m; 2000m), W7 (2800m; 2800m), and W8 (1750m; 2800m).

[0046] The coordinated aircraft / ship path tracking trajectory based on the grid search mission is shown in Figure 5. Figures 5a and 5b are a three-dimensional space map and a two-dimensional plan view, respectively, of the coordinated aircraft / ship search. Figure 5 clearly shows that the coordinated search system, consisting of two unmanned aerial vehicles and one underactuated vessel, can completely cover the search area. Furthermore, the control algorithm of this embodiment allows the coordinated aircraft / ship system to track a reference path and navigate cooperatively in the desired formation. Furthermore, the triggered communication mechanism allows the aircraft / ship system to save more than 90% of communication bandwidth when navigating in a coordinated formation.

[0047] Combining the prior art, the controller design, and the two simulation examples, this embodiment has two advantages in the field of maritime search:

[0048] 1) The grid-search-based aircraft / ship cooperative triggered communication path tracking control method in this embodiment includes four components: a cooperative nonlinear model based on information consistency, cooperative path planning, guidance, and control. By recreating the dynamics model of an underactuated vessel, a cooperative nonlinear model based on information consistency is created, establishing a foundation for planning, guidance, and control design. In the cooperative path planning section, a grid-based maritime search path planning method is proposed. The introduction of a compensation speed and triggered communication mechanism enables the aircraft / ship cooperative reference path to achieve the desired formation with low communication overhead. Based on the aircraft / ship cooperative reference path, an aircraft / ship cooperative guidance algorithm is constructed, which can provide a heading reference signal to the aircraft / ship system. In the control section, an aircraft / ship cooperative path tracking control algorithm based on robust limit compensation technology is designed, enabling the aircraft / ship cooperative system to effectively track the reference path, with the advantages of low communication overhead and low design complexity.

[0049] 2) Two simulation examples show that the method of this embodiment has obvious advantages in the field of aircraft / ship cooperative path tracking, especially when the initial reference position of the aircraft / ship system is not in the desired formation, the reference path deduction can be automatically adjusted by triggered correction speed, which can solve the problem of aircraft / ship system cooperation under communication bandwidth limitations. At the same time, the algorithm of this embodiment also realizes the verification of a grid-based maritime search mission model, which clearly shows the potential application value of the algorithm of the present invention in aircraft / ship cooperative maritime search missions.

[0050] In this example, grid cell information is generated based on the search radius of the aircraft / ship cooperative system, allowing irregular search areas to be covered by the search network. At the same time, independent formation reference paths are designed for the virtual ship and virtual aircraft, and speed corrections are introduced to the virtual ship and virtual aircraft to enable autonomous cooperative missions. In addition, a trigger communication mechanism is implemented for the path information transmission path between the virtual ship and virtual aircraft, reducing the communication load between the virtual ship and virtual aircraft.

[0051] Finally, it should be noted that the above embodiments are merely for illustrating the technical means of the present invention, and are not intended to limit the same. Although the present invention has been described in detail with reference to the above embodiments, it is understood by those skilled in the art that the technical means described in the above embodiments may be modified or equivalently replaced with part or all of the technical features, and that such modifications or replacements will not depart from the essence of the corresponding technical means within the scope of the technical means of the embodiments of the present invention.

[0052] (Addendum) (Appendix 1) Step S1 of creating a nonlinear aircraft / ship coordination model of the aircraft / ship coordination system based on a dynamic model of the underactuated ship; Step S2: obtaining the width of a grid cell in the search grid based on the search radius of the aircraft / ship cooperative system, and creating a search grid that covers the search area; Step S3: generating a reference path of a virtual vessel VS based on a search grid according to an aircraft / vessel cooperation nonlinear model of the aircraft / vessel cooperation system; Step S4: obtaining a reference path of a virtual aircraft VA based on the reference path of the virtual ship VS, and obtaining a trigger rule based on a trigger communication mechanism between the virtual ship VS and the virtual aircraft VA; and (5) obtaining a position and attitude error between the aircraft / ship coordination system and the reference path based on an aircraft / ship coordination nonlinear model of the aircraft / ship coordination system and a reference path of a virtual aircraft VA; obtaining a virtual control law that stabilizes the position and attitude error between the aircraft / ship coordination system and the reference path based on the trigger rule and a control input expressed as a force or moment in the aircraft / ship coordination system; and driving the aircraft / ship coordination system according to the virtual control law to perform a maritime search mission.

[0053] (Appendix 2) In S4, the trigger rule is obtained by the following steps S41 to S44: Step S41: Obtain the reference trajectory of the virtual aircraft VA using equations (4) and (5).

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[0054] (Appendix 3) In the step S1, the aircraft / ship cooperation nonlinear model of the aircraft / ship cooperation system is created by the formula (1),

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[0055] (Appendix 4) In the step S2, the width of the grid cell is obtained by the formula (2),

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[0056] (Appendix 5) In S3, the reference path of the virtual ship VS is obtained by equation (3),

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[0057] (Appendix 6) In S5, the position and attitude error between the aircraft / ship cooperative system and the reference path is obtained by Equation (10):

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[0058] (Appendix 7) In S5, the virtual control law is obtained by the following steps S51 to S53: Step S51: Create a virtual control law according to equation (11);

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Claims

1. Step S1 of creating a nonlinear aircraft / ship coordination model of the aircraft / ship coordination system based on a dynamic model of the underactuated ship; Step S2: obtaining a grid cell width in the search grid based on the search radius of the aircraft / ship cooperative system, and creating a search grid that covers the search area; Step S3: creating a reference path for the virtual vessel VS based on the search grid according to the aircraft / vessel coordination nonlinear model of the aircraft / vessel coordination system; A step S4 of obtaining a reference path of a virtual aircraft VA based on the reference path of the virtual ship VS, and obtaining a trigger rule based on a trigger communication mechanism between the virtual ship VS and the virtual aircraft VA; and (5) obtaining a position and attitude error between the aircraft / ship coordination system and the reference path based on an aircraft / ship coordination nonlinear model of the aircraft / ship coordination system and a reference path of a virtual aircraft VA; obtaining a virtual control law that stabilizes the position and attitude error between the aircraft / ship coordination system and the reference path based on the trigger rule and control inputs expressed as forces or moments in the aircraft / ship coordination system; and driving the aircraft / ship coordination system according to the virtual control law to perform a maritime search mission.

2. In S4, the trigger rule is obtained by the following steps S41 to S44: Step S41: Obtain the reference path of the virtual aircraft VA using equations (4) and (5). [Equation 1] [Equation 2] In formulas (4) and (5), [Equation 3] represents the reference path of the i-th virtual aircraft VA, [Equation 4] represents the transition matrix of the virtual aircraft VA, [Equation 5] teeth, [Equation 6] represents the derivative of [Equation 7] represents a vector quantity consisting of the velocity in the direction of travel and the yaw angular velocity of the i-th virtual aircraft VA, [Equation 8] represents the velocity of the i-th virtual aircraft VA in the direction of travel, [Equation 9] represents the yaw angular velocity of the i-th virtual aircraft VA, L represents the formation parameter matrix, [Equation 10] represents reference information of the j-th virtual vessel VS, i.e., the position and attitude of the j-th virtual vessel VS, Step S42: Correction speed [0011] is introduced, and the velocity of the virtual aircraft VA in the direction of travel is expressed as equation (6): [0012] In formula (6), [0013] represents the speed of the j-th virtual vessel VS in the direction of travel, Among them, [0014] is calculated according to equation (7), [Equation 15] In formula (7), k ｃ represents a positive design parameter, and z i (t) is the change in z over time i represents z i represents the time interval from the current position of the virtual aircraft VA to the coordinated position, and z ｊ (t) is the change in z over time ｊ represents z ｊ represents the time interval from the current position of the virtual vessel VS to the coordinated position, Step S43: Introduce a trigger communication mechanism between the virtual ship VS and the virtual aircraft VA according to equation (8); [0016] In formula (8), [Equation 17] is the k-th trigger point t ｋ z in i represents the trigger value of t ｋ represents the k-th trigger point, and t ｋ＋１ represents the k+1th trigger point, t represents the trigger time, [Equation 18] is the k-th trigger point t ｋ z in ｊ represents the trigger value of Step S44: Create a trigger rule according to formula (9), [Equation 19] In formula (9), [Equation 20] is z i (t) and the trigger value [0000] represents the difference between １ represents the trigger threshold, and a ２ The method for controlling aircraft / ship cooperative triggered communication path tracking based on grid searching according to claim 1, wherein ≡ represents a Zeno parameter.

3. In the step S1, the aircraft / ship cooperation nonlinear model of the aircraft / ship cooperation system is created by the formula (1), [Equation 22] In formula (1), [Equation 23] represents the position and attitude information of the aircraft / ship cooperative system, among which: [0000] is the position information of the i-th unmanned aerial vehicle, [Equation 25] is the attitude information of the i-th unmanned aerial vehicle, [Equation 26] is the position and attitude information of the jth underactuated vessel, [0000] represents the gain function of the aircraft / ship cooperative system, of which: [0000] is the position loop gain of the i-th unmanned aerial vehicle, [0000] is the attitude loop gain of the i-th unmanned aerial vehicle, [Equation 30] is the control input gain of the jth underactuated vessel; [Equation 31] represents the control inputs expressed as forces / moments in the aircraft / ship cooperative system, among which: [Equation 32] is the position loop control input of the i-th unmanned aerial vehicle, [Equation 33] is the attitude loop control input of the i-th unmanned aerial vehicle, [Equation 34] is the control input of the jth underactuated vessel; [Equation 35] represents the uncertainties in the model, [Equation 36] is the nonlinear term of the model in the position loop of the i-th unmanned aerial vehicle, [Equation 37] is a nonlinear term of the model in the attitude loop of the i-th unmanned aerial vehicle, [Equation 38] is the nonlinear term of the model of the jth underactuated vessel, [0.39] represents the interference information of the aircraft / ship cooperative system, among which: [Equation 40] is the interference information in the position loop of the i-th unmanned aerial vehicle, [Equation 41] is the interference information in the attitude loop of the i-th unmanned aerial vehicle, [Equation 42] is the interference information of the jth underactuated vessel, and [Equation 43] teeth, [0.0000] The condition is satisfied, [Equation 45] teeth, [Equation 46] represents the upper bound of [Equation 47] The method for controlling aircraft / ship cooperative triggered communication path tracking based on grid searching according to claim 1, characterized in that: represents obtaining a second derivative.

4. In step S2, the width of the grid cell is obtained by equation (2), [Number 48] In formula (2), W ＷＧ represents the width of a grid cell, [Number 49] represents the search radius of the i-th unmanned aerial vehicle; [Number 50] The method for controlling aircraft / ship cooperative triggered communication path tracking based on grid searching as described in claim 1, characterized in that i represents the search radius of the jth underactuated vessel, i represents the target number of the unmanned aerial vehicle, and j represents the number of the underactuated vessel.

5. In S3, the reference course of the virtual ship VS is obtained by equation (3), [Equation 51] In formula (3), [Number 52] represents the reference path of the j-th virtual vessel VS, i.e., the position and attitude of the j-th virtual vessel VS, [Number 53] represents the transition matrix of the virtual vessel VS, [Number 54] represents the speed in the direction of travel and the yaw angular velocity of the j-th virtual vessel VS, among which: [Number 55] is the speed of the jth virtual vessel VS in the direction of travel, [Number 56] 2. The method for controlling aircraft / ship cooperative triggered communication path tracking based on grid searching as claimed in claim 1, wherein j is the yaw angular velocity of the jth virtual ship VS.

6. In the step S5, the position and attitude errors between the aircraft / ship cooperative system and the reference path are obtained by the formula (10), [Number 57] In formula (10), η ｅ represents the position and attitude error between the aircraft / ship cooperative system and the reference path, and η ｄ represents a reference signal of the aircraft / ship cooperation system including a reference information of the virtual aircraft VS and a reference information of the virtual aircraft VA; [Number 58] 2. The method for controlling aircraft / ship cooperative triggered communication path tracking based on grid searching as claimed in claim 1, wherein: r represents the position information and attitude information of the aircraft / ship cooperative system.

7. In S5, the virtual control law is obtained by the following steps S51 to S53: Step S51: Create a virtual control law according to equation (11); [Number 59] In formula (11), k η represents a positive design parameter, [Number 60] represents the virtual control law, [Number 61] is η ｄ represents the derivative of Step S52: According to the formula (12), the virtual control law is calculated as [Number 62] The error between ｅ Define [Number 63] ν ｅ By calculating the derivative of (13) and (14), [Number 64] [Number 65] In equations (13) and (14), ξ≦k ｆ I represents the robust bound matrix, and k ｆ represents the robustness limit parameter, I represents the identity matrix, and κ ＊ represents the known items among the nonlinear items of the model, and f ＊ denotes a known bounded function, [Number 66] is further expressed in equation (15), [Number 67] Step S53: Obtain a virtual control law to stabilize the position and attitude errors between the aircraft / ship cooperative system and the reference path according to equation (16); [Number 68] In formula (16), k ν The method for controlling aircraft / ship cooperative triggered communication path tracking based on grid searching as claimed in claim 1, wherein ∇ represents a positive controller design parameter.

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