Unmanned surface vehicle path manipulation control system and method based on digital twin and parallel controller

Abstract

An unmanned surface vehicle path manipulation control system and method based on a digital twin and a parallel controller. The system comprises: a real unmanned surface vehicle system, a real controller for generating a control input to control the real unmanned surface vehicle system, an unmanned surface vehicle motion digital twin model for generating location information of a virtual unmanned surface vehicle, a kinematics controller for generating an unmanned surface vehicle guidance signal, a dynamics controller for generating a control input on the basis of the guidance signal and speed information of the virtual unmanned surface vehicle at the current moment so as to control a manual system composed of the unmanned surface vehicle motion digital twin model, and a path parameter updating law providing an unmanned surface vehicle path parameter; a parallel controller integrates the constructed virtual unmanned surface vehicle system in an information space into the environment, and drives the virtual unmanned surface vehicle system and the real unmanned surface vehicle system at the same time, thereby realizing mutual mapping and virtual-real interaction between the two systems.

Description

Unmanned boat path manipulation control system and method based on digital twin and parallel controller Technical Field

[0001] The present invention relates to the field of unmanned boat path manipulation control, and in particular to an unmanned boat path manipulation control system and method based on digital twin and parallel controller. Background Art

[0002] Path manipulation control, also known as path tracking control, is a fundamental problem in the motion control of unmanned aerial vehicles (UAVs). The path manipulation control problem involves two control objectives: a geometric control objective and a dynamic control objective. The geometric control objective is used to meet the spatial requirements of the output space, while the dynamic control objective is used to meet the dynamic behavior requirements on the path. Compared with trajectory tracking control, the time constraints and spatial constraints in path manipulation control are decoupled from each other, which makes the design of the path parameter update law more flexible and facilitates better control performance. Due to the widespread application of path manipulation control in the field of UAVs, relevant scholars have studied it from different perspectives in recent years, including research on single UAV systems and research on multi-UAV systems.

[0003] The existing unmanned boat path control methods have the following problems:

[0004] First, the existing unmanned boat path manipulation control method only considers the actual unmanned boat system in the physical space, and does not consider the integrated environment of physical space and cyberspace, making it difficult to achieve efficient coordination and optimized control of the actual unmanned boat system and the virtual unmanned boat system in the physical space and cyberspace.

[0005] Second, most of the existing unmanned boat path manipulation control methods are based on the one-way update of the motion model based on the sensor data of the actual unmanned boat system. There is a lack of information flow from the motion model to the actual unmanned boat system, and it is impossible to achieve two-way data flow and synchronous mapping between the actual unmanned boat system and the virtual unmanned boat system.

[0006] Third, most of the existing unmanned boat path manipulation control methods are based on simulation or experiments to verify the performance of the designed controller. This process is usually independent of the actual execution system and lacks real-time feedback and control strategy optimization.

[0007] Summary of the Invention

[0008] In order to solve the technical problems in the existing unmanned boat path manipulation control method, such as not considering the integrated environment of physical space and cyberspace, lack of information flow from the motion model to the actual unmanned boat system, and lack of real-time feedback and control strategy optimization of the actual execution system, the present invention proposes an unmanned boat path manipulation control system based on digital twins and parallel controllers.

[0009] The technical solutions of the present invention are as follows:

[0010] A path manipulation control system for unmanned boats based on digital twins and parallel controllers.

[0011] It includes: an actual unmanned boat system, an actual controller that generates control inputs to control the actual unmanned boat system, an unmanned boat motion digital twin model that generates position information of a virtual unmanned boat, a kinematic controller that generates guidance signals for the unmanned boat, a dynamic controller that generates control inputs based on the guidance signals and the current speed information of the virtual unmanned boat to control the artificial system composed of the unmanned boat motion digital twin model, and a path parameter update law that provides path parameters for the unmanned boat.

[0012] The actual unmanned boat system input end is connected to the actual controller output end, and the output end is connected to the actual controller input end;

[0013] The actual controller input end is respectively connected to the actual input end containing the position information and heading information of the actual reference path of the unmanned boat and the output end of the actual unmanned boat system, and the output end is connected to the input end of the actual unmanned boat system;

[0014] The input end of the unmanned boat motion digital twin model is connected to the output end of the dynamics controller, and the output end is connected to the input end of the kinematic controller and the dynamics controller respectively;

[0015] The kinematic controller input end is respectively connected to the manual input end containing the position information and heading information of the virtual reference path of the unmanned boat, the path parameter update law and the output end of the unmanned boat motion digital twin model, and the output end is respectively connected to the input end of the dynamic controller and the path parameter update law;

[0016] The input end of the dynamic controller is respectively connected to the output end of the kinematic controller and the unmanned boat motion digital twin model, and the output end is connected to the input end of the unmanned boat motion digital twin model;

[0017] The path parameter update law input end is connected to the kinematic controller output end, and the output end is connected to the kinematic controller input end.

[0018] Preferably, the actual unmanned boat system mathematical model is expressed as follows:

[0019] where η = [x, y, ψ] T ∈R 3 The position information and bow angle information of the unmanned boat; [·] T Represents the transpose of a matrix or vector; ν = [u, v, r] T ∈R3 is the longitudinal velocity, lateral velocity and bow angular velocity of the unmanned boat; M∈R 3×3 is the inertia matrix of the unmanned boat, M * ∈R 3×3 is the calibration value of M; τ=[τ u ,τ v ,τ r ] T ∈R 3 is the control input of the unmanned boat; R(ψ)∈R 3×3 is the rotation matrix, expressed as:

[0020] σ∈R 3 is the total disturbance of the system, expressed as: σ=M -1 (-C(ν)ν-D(ν)ν+τ w )+(M -1 -(M * ) -1 )τ

[0021] Where C(ν)∈R 3×3 is the centripetal force and Coriolis force coefficient matrix; D(ν)∈R 3×3 is the hydrodynamic damping matrix; τ w =[τ uw ,τ vw ,τ rw ] T ∈R 3 The disturbance is caused by time-varying wind, waves and currents.

[0022] Preferably, the unmanned boat motion digital twin model includes:

[0023] The input signals of the digital twin model of unmanned boat motion are the position information η and speed information ν of the actual unmanned boat system and the control input τ of the virtual unmanned boat; the output signal is the position information of the virtual unmanned boat in the digital twin model of the artificial system. Speed ​​information Estimated total disturbance of the system

[0024] The digital twin model of the unmanned boat motion is designed as follows:

[0025] Among them, k1∈R, k2∈R, k3∈R are control gains.

[0026] Preferably, the kinematic controller comprises:

[0027] The input signal of the kinematic controller is the artificial input terminal η containing the position information and heading information of the actual reference path of the unmanned boat. d(w), path parameter w, location information of the virtual unmanned boat in the digital twin model of the artificial system The output signal is the path tracking error η of the digital twin model in the artificial system e and guidance signal ν c ;

[0028] The kinematic controller is designed as follows:

[0029] Among them, K c1 ∈R 3×3 is the gain coefficient matrix, is the saturation term, Δ1∈R + is a design parameter.

[0030] Preferably, the path parameter update law includes:

[0031] The input signal of the path parameter update law is the path tracking error η of the digital twin model in the artificial system e ;The output signal is the path parameter w;

[0032] The path update law is designed as follows:

[0033] Among them, w s is the expected path update rate, α,β∈R + is a given design parameter, and ρ is a variable design parameter.

[0034] Preferably, the dynamic controller includes:

[0035] The input signal of the dynamic controller is the speed information of the virtual unmanned boat in the digital twin model of the artificial system. Guidance signal ν c , the estimated value of the total disturbance of the system The output signal is the control input vector τ;

[0036] The dynamic controller is designed as follows:

[0037] Among them, K c2 ∈R 3×3 is the gain coefficient matrix, is the saturation term, Δ2∈R + is a design parameter.

[0038] Preferably, the actual controller is obtained by copying the parallel controller in the digital twin model of the artificial system, and the two are mirror images of each other. The input and output signals of the actual controller are consistent with those of the parallel controller in the digital twin model of the artificial system.

[0039] A path manipulation control method for unmanned boats based on digital twins and parallel controllers:

[0040] S1: Constructing an unmanned boat path manipulation control system: The system includes: an actual unmanned boat system, an actual controller that generates control inputs to control the actual unmanned boat system, an unmanned boat motion digital twin model that generates position information of a virtual unmanned boat, a kinematic controller that generates guidance signals for the unmanned boat, a dynamic controller that generates control inputs based on the guidance signals and the current speed information of the virtual unmanned boat to control the artificial system composed of the unmanned boat motion digital twin model, and a path parameter update law that provides path parameters for the unmanned boat.

[0041] S2: Signal transmission of virtual unmanned boat: The position information of the virtual unmanned boat given by the human input and the current unmanned boat motion digital twin model is transmitted. Passed to the kinematic controller, the path parameter update law will provide the path parameter w, and the kinematic controller will generate the guidance signal ν c The dynamic controller is transmitted to the dynamic controller; the dynamic controller is based on the guidance signal ν c and the current speed information of the virtual unmanned boat Generate control input τ to control the artificial system composed of the digital twin model of the unmanned boat motion;

[0042] S3: Signal transmission of the actual unmanned boat system: the actual input and the status information of the virtual unmanned boat are transmitted The actual controller generates the control input τ to control the actual unmanned boat system.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention provides an unmanned boat path manipulation control system and method based on digital twins and parallel controllers. The system includes: an actual unmanned boat system, an actual controller that generates control inputs to control the actual unmanned boat system, an unmanned boat motion digital twin model that generates position information of a virtual unmanned boat, a kinematic controller that generates guidance signals for the unmanned boat, a dynamics controller that generates control inputs based on the guidance signals and the current speed information of the virtual unmanned boat to control the artificial system composed of the unmanned boat motion digital twin model, and a path parameter update law that provides path parameters for the unmanned boat.

[0045] The parallel controller designed in the present invention integrates the virtual unmanned boat system in the constructed information space into the environment, and drives the virtual unmanned boat system and the actual unmanned boat system at the same time, realizing mutual mapping and virtual-real interaction between the two systems.

[0046] In the present invention, the digital twin model in the artificial system updates the status information based on the actual unmanned boat and realizes the path manipulation control of the actual unmanned boat system according to the designed parallel controller, thereby realizing the two-way data flow and synchronous mapping between the actual unmanned boat system and the virtual unmanned boat system.

[0047] Third, the parallel controller designed by the present invention can perform computational experiments based on the digital twin model constructed in the artificial system. By deducing and simulating the digital twin model in the artificial system, dynamic evaluation and optimization of the performance of the designed parallel controller are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a schematic diagram of the structure of an unmanned boat path manipulation control system based on digital twins and parallel controllers.

[0049] Figure 2 is a schematic diagram of the parallel path maneuvering control performance.

[0050] Figure 3 is a diagram of the unmanned boat path tracking error between the digital twin model in the artificial system and the actual system.

[0051] Figure 4 is a graph of the position and heading of the unmanned boat in the digital twin model of the artificial system and the actual system.

[0052] Figure 5 is a graph showing the longitudinal speed, lateral speed, and bow angular velocity of the unmanned boat in the digital twin model of the artificial system and the actual system.

[0053] Figure 6 is the observation effect diagram of the total disturbance of the system.

[0054] Figure 7 is a graph of the control input of the unmanned boat in the digital twin model of the artificial system and the actual system. DETAILED DESCRIPTION

[0055] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0056] The structure of the unmanned boat path manipulation control system designed by the present invention based on digital twin and parallel controller is shown in Figure 1.

[0057] It includes: an actual unmanned boat system, an actual controller that generates control inputs to control the actual unmanned boat system, an unmanned boat motion digital twin model that generates position information of a virtual unmanned boat, a kinematic controller that generates guidance signals for the unmanned boat, a dynamic controller that generates control inputs based on the guidance signals and the current speed information of the virtual unmanned boat to control the artificial system composed of the unmanned boat motion digital twin model, and a path parameter update law that provides path parameters for the unmanned boat.

[0058] The actual unmanned boat system input end is connected to the actual controller output end, and the output end is connected to the actual controller input end;

[0059] The actual controller input end is respectively connected to the actual input end containing the position information and heading information of the actual reference path of the unmanned boat and the output end of the actual unmanned boat system, and the output end is connected to the input end of the actual unmanned boat system;

[0060] The input end of the unmanned boat motion digital twin model is connected to the output end of the dynamics controller, and the output end is connected to the input end of the kinematic controller and the dynamics controller respectively;

[0061] The kinematic controller input end is respectively connected to the manual input end containing the position information and heading information of the virtual reference path of the unmanned boat, the path parameter update law and the output end of the unmanned boat motion digital twin model, and the output end is respectively connected to the input end of the dynamic controller and the path parameter update law;

[0062] The input end of the dynamic controller is respectively connected to the output end of the kinematic controller and the unmanned boat motion digital twin model, and the output end is connected to the input end of the unmanned boat motion digital twin model;

[0063] The path parameter update law input end is connected to the kinematic controller output end, and the output end is connected to the kinematic controller input end.

[0064] Preferably, the actual unmanned boat system mathematical model is expressed as follows:

[0065] where η = [x, y, ψ] T ∈R 3 The position information and bow angle information of the unmanned boat; [·] T Represents the transpose of a matrix or vector; ν = [u, v, r] T ∈R 3 is the longitudinal velocity, lateral velocity and bow angular velocity of the unmanned boat; M∈R 3×3 is the inertia matrix of the unmanned boat, M * ∈R 3×3 is the calibration value of M; τ=[τ u ,τ v ,τ r ] T ∈R 3 is the control input of the unmanned boat; R(ψ)∈R 3×3 is the rotation matrix, expressed as:

[0066] σ∈R 3 is the total disturbance of the system, expressed as: σ=M -1 (-C(ν)ν-D(ν)ν+τ w )+(M-1 -(M * ) -1 )τ

[0067] Where C(ν)∈R 3×3 is the centripetal force and Coriolis force coefficient matrix; D(ν)∈R 3×3 is the hydrodynamic damping matrix; τ w =[τ uw ,τ vw ,τ rw ] T ∈R 3 The disturbance is caused by time-varying wind, waves and currents.

[0068] Preferably, the unmanned boat motion digital twin model includes:

[0069] The input signals of the digital twin model of unmanned boat motion are the position information η and speed information ν of the actual unmanned boat system and the control input τ of the virtual unmanned boat; the output signal is the position information of the virtual unmanned boat in the digital twin model of the artificial system. Speed ​​information Estimated total disturbance of the system

[0070] The digital twin model of the unmanned boat motion is designed as follows:

[0071] Among them, k1∈R, k2∈R, k3∈R are control gains.

[0072] Preferably, the kinematic controller comprises:

[0073] The input signal of the kinematic controller is the artificial input terminal η containing the position information and heading information of the actual reference path of the unmanned boat. d (w), path parameter w, location information of the virtual unmanned boat in the digital twin model of the artificial system The output signal is the path tracking error η of the digital twin model in the artificial system e and guidance signal ν c ;

[0074] The kinematic controller is designed as follows:

[0075] Among them, K c1 ∈R 3×3 is the gain coefficient matrix, is the saturation term, Δ1∈R + is a design parameter.

[0076] Preferably, the path parameter update law includes:

[0077] The input signal of the path parameter update law is the path tracking error η of the digital twin model in the artificial system e ;The output signal is the path parameter w;

[0078] The path update law is designed as follows:

[0079] Among them, w s is the expected path update rate, α,β∈R + is a given design parameter, and ρ is a variable design parameter.

[0080] Preferably, the dynamic controller includes:

[0081] The input signal of the dynamic controller is the speed information of the virtual unmanned boat in the digital twin model of the artificial system. Guidance signal ν c , the estimated value of the total disturbance of the system The output signal is the control input vector τ;

[0082] The dynamic controller is designed as follows:

[0083] Among them, K c2 ∈R 3×3 is the gain coefficient matrix, is the saturation term, Δ2∈R + is a design parameter.

[0084] Preferably, the actual controller is obtained by copying the parallel controller in the digital twin model of the artificial system, and the two are mirror images of each other. The input and output signals of the actual controller are consistent with those of the parallel controller in the digital twin model of the artificial system.

[0085] A path manipulation control method for unmanned boats based on digital twins and parallel controllers:

[0086] S1: Constructing an unmanned boat path manipulation control system: The system includes: an actual unmanned boat system, an actual controller that generates control inputs to control the actual unmanned boat system, an unmanned boat motion digital twin model that generates position information of a virtual unmanned boat, a kinematic controller that generates guidance signals for the unmanned boat, a dynamic controller that generates control inputs based on the guidance signals and the current speed information of the virtual unmanned boat to control the artificial system composed of the unmanned boat motion digital twin model, and a path parameter update law that provides path parameters for the unmanned boat.

[0087] S2: Signal transmission of virtual unmanned boat: The position information of the virtual unmanned boat given by the human input and the current unmanned boat motion digital twin model is transmitted. Passed to the kinematic controller, the path parameter update law will provide the path parameter w, and the kinematic controller will generate the guidance signal ν c The dynamic controller is transmitted to the dynamic controller; the dynamic controller is based on the guidance signal ν c and the current speed information of the virtual unmanned boat Generate control input τ to control the artificial system composed of the digital twin model of the unmanned boat motion;

[0088] S3: Signal transmission of actual unmanned boat: Signal transmission of actual input and virtual unmanned boat status information The actual controller generates the control input τ to control the actual unmanned boat system.

[0089] The virtual unmanned boat and the actual unmanned boat realize virtual-real interaction and parallel interaction between the two through real-time status information exchange between the controller part and the controlled object part.

[0090] The control parameters for equations (3)-(6) are selected as follows:

[0091] K c1 =diag{0.1,0.1,0.1}, Δ1=1, K c2 =diag{5,5,2},Δ2=1,w s =1, α=10, β=10, k1=20, k2=20, k3=100, where diag represents a diagonal matrix.

[0092] The simulation results are shown in Figures 2-7. Figure 2 shows the path manipulation trajectory of the UAV. The dashed line represents the desired path, the solid line represents the actual path, and the horizontal and vertical axes represent the map size. As can be seen from the figure, the actual path of the UAV coincides with the desired path within a short period of time, indicating that the UAV can track the desired path well. Figure 3 shows the path tracking errors of the artificial and actual systems. The horizontal axis represents time, and the vertical axis represents the longitudinal tracking error, the horizontal tracking error, and the heading tracking error, respectively. The figure shows that the tracking errors of both the artificial and actual systems converge to near zero in steady state. Figure 4 shows the position and heading information of the UAV on the vertical axis, and the horizontal axis represents time. The figure shows that both the artificial and actual systems can track the reference signal well. Figure 5 shows the velocity information of the UAV on the vertical axis, and the horizontal axis represents time. The figure shows that after a short transient process, the velocity signals of both the artificial and actual systems accurately track the guidance signal. In Figure 6, the vertical axis represents the disturbances in the longitudinal, transverse, and pitch directions, while the horizontal axis represents time. The solid line represents the estimated value, and the dashed line represents the actual value. This indicates that the designed digital twin model of the UAV motion can accurately estimate the total disturbance of the system. In Figure 7, the vertical axis represents the thrust in the longitudinal and transverse directions, as well as the torque in the pitch direction, while the horizontal axis represents time. The solid line represents the artificial system, while the dashed line represents the actual system. The two curves converge.

[0093] The present invention is not limited to this embodiment, and any equivalent concepts or modifications within the technical scope disclosed by the present invention are included in the protection scope of the present invention.

Claims

1. An unmanned boat path manipulation control system based on digital twin and parallel controller, characterized in that: include: An actual unmanned boat system, an actual controller that generates control inputs to control the actual unmanned boat system, an unmanned boat motion digital twin model that generates position information of a virtual unmanned boat, a kinematic controller that generates guidance signals for the unmanned boat, a dynamic controller that generates control inputs based on the guidance signals and the speed information of the virtual unmanned boat at the current moment to control the artificial system composed of the unmanned boat motion digital twin model, and a path parameter update law that provides path parameters for the unmanned boat; The actual unmanned boat system input end is connected to the actual controller output end, and the output end is connected to the actual controller input end; The actual controller input end is respectively connected to the actual input end containing the position information and heading information of the actual reference path of the unmanned boat and the output end of the actual unmanned boat system, and the output end is connected to the input end of the actual unmanned boat system; The input end of the unmanned boat motion digital twin model is connected to the output end of the dynamics controller, and the output end is respectively connected to the input end of the kinematics controller and the dynamics controller; The kinematic controller input end is respectively connected to the manual input end containing the position information and heading information of the virtual reference path of the unmanned boat, the path parameter update law and the output end of the unmanned boat motion digital twin model, and the output end is respectively connected to the input end of the dynamic controller and the path parameter update law; The input end of the dynamic controller is respectively connected to the output end of the kinematic controller and the unmanned boat motion digital twin model, and the output end is connected to the input end of the unmanned boat motion digital twin model; The path parameter updating law input end is connected to the kinematic controller output end, and the output end is connected to the kinematic controller input end.

2. The unmanned boat path manipulation control system based on digital twin and parallel controller according to claim 1 is characterized in that: The mathematical model of the actual unmanned boat system is expressed as follows: where η = [x, y, ψ] T ∈R 3 The position information and bow angle information of the unmanned boat;[·] T Represents the transpose of a matrix or vector; ν = [u, v, r] T ∈R 3 is the longitudinal velocity, lateral velocity and bow angular velocity of the unmanned boat; M∈R 3×3 is the inertia matrix of the unmanned boat, M * ∈R 3×3 is the calibration value of M; τ=[τ u ,τ v ,τ r ] T ∈R 3 is the control input of the unmanned boat; R(ψ)∈R 3×3 is the rotation matrix, expressed as: σ∈R 3 is the total disturbance of the system, expressed as: σ=M -1 (-C(n)n-D(n)n+τ w )+(M -1 -(M * ) -1 )t Where C(ν)∈R 3×3 is the centripetal force and Coriolis force coefficient matrix; D(ν)∈R 3×3 is the hydrodynamic damping matrix; τ w =[τ uw ,τ vw ,τ rw ] T ∈R 3 The disturbance is caused by time-varying wind and wave currents.

3. The unmanned boat path manipulation control system based on digital twin and parallel controller according to claim 1 is characterized in that: The unmanned boat motion digital twin model includes: The input signals of the digital twin model of unmanned boat motion are the position information η and speed information ν of the actual unmanned boat system and the control input τ of the virtual unmanned boat; the output signal is the position information of the virtual unmanned boat in the digital twin model of the artificial system. Speed ​​information Total disturbance estimate of the system The design of the unmanned boat motion digital twin model is as follows: Among them, k1∈R, k2∈R, k3∈R are control gains.

4. The unmanned boat path manipulation control system based on digital twin and parallel controller according to claim 1 is characterized in that: The kinematic controller comprises: The input signal of the kinematic controller is the artificial input terminal η containing the position information and heading information of the actual reference path of the unmanned boat d (w), path parameter w, location information of the virtual unmanned boat in the digital twin model of the artificial system The output signal is the path tracking error η of the digital twin model in the artificial system e and guidance signal ν c ; The kinematic controller is designed as follows: Among them, K c1 ∈R 3×3 is the gain coefficient matrix, is the saturation term, Δ1∈R + is a design parameter.

5. The unmanned boat path manipulation control system based on digital twin and parallel controller according to claim 1 is characterized in that: The path parameter update law includes: The input signal of the path parameter update law is the path tracking error η of the digital twin model in the artificial system e ;The output signal is the path parameter w; The path update law is designed as follows: Among them, w s is the expected path update rate, α,β∈R + is a given design parameter, and ρ is a variable design parameter.

6. The unmanned boat path manipulation control system based on digital twin and parallel controller according to claim 1 is characterized in that: The dynamics controller comprises: The input signal of the dynamic controller is the speed information of the virtual unmanned boat in the digital twin model of the artificial system. Guidance signal ν c , the estimated value of the total disturbance of the system The output signal is the control input vector τ; The dynamic controller is designed as follows: Among them, K c2 ∈R 3×3 is the gain coefficient matrix, is the saturation term, Δ2∈R + is a design parameter.

7. The unmanned boat path manipulation control system based on digital twin and parallel controller according to claim 1 is characterized in that: The actual controller is obtained by copying the parallel controller in the digital twin model of the artificial system, and the two are mirror images of each other. The input and output signals of the actual controller are consistent with those of the parallel controller in the digital twin model of the artificial system.

8. A method for controlling the path of an unmanned boat based on a digital twin and a parallel controller formed by the system according to any one of claims 1 to 7: characterized in that: S1: Constructing an unmanned boat path control system: The system includes: an actual unmanned boat system, an actual controller that generates control inputs to control the actual unmanned boat system, an unmanned boat motion digital twin model that generates position information of a virtual unmanned boat, a kinematic controller that generates an unmanned boat guidance signal, a dynamic controller that generates control inputs based on the guidance signal and the speed information of the virtual unmanned boat at the current moment to control the artificial system composed of the unmanned boat motion digital twin model, and a path parameter update law that provides the path parameters of the unmanned boat; S2: Signal transmission of virtual unmanned boat: The position information of the virtual unmanned boat given by the digital twin model of the current unmanned boat motion is transmitted by the manual input. is passed to the kinematic controller, and the path parameter update law provides the path parameter w and the kinematic controller generates the guidance signal ν c The dynamic controller is transmitted to the dynamic controller; the dynamic controller is based on the guidance signal ν c and the speed information of the virtual unmanned boat at the current moment Generate control input τ to control the artificial system consisting of the digital twin model of the unmanned boat motion; S3: Signal transmission of the actual unmanned boat system: the actual input and the status information of the virtual unmanned boat are transmitted They are input together into the actual controller, and the actual controller generates the control input τ to control the actual unmanned boat system.

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