CN110196599A - A kind of collision prevention with connect the unmanned boat distribution formation control method kept under constraint - Google Patents
A kind of collision prevention with connect the unmanned boat distribution formation control method kept under constraint Download PDFInfo
- Publication number
- CN110196599A CN110196599A CN201910560210.9A CN201910560210A CN110196599A CN 110196599 A CN110196599 A CN 110196599A CN 201910560210 A CN201910560210 A CN 201910560210A CN 110196599 A CN110196599 A CN 110196599A
- Authority
- CN
- China
- Prior art keywords
- unmanned boat
- error
- function
- virtual
- formation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 64
- 230000002265 prevention Effects 0.000 title claims abstract description 19
- 230000001052 transient effect Effects 0.000 claims abstract description 25
- 238000005516 engineering process Methods 0.000 claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims abstract description 11
- 238000009795 derivation Methods 0.000 claims abstract description 7
- 239000011159 matrix material Substances 0.000 claims description 40
- 238000004891 communication Methods 0.000 claims description 30
- 230000004888 barrier function Effects 0.000 claims description 14
- 238000001914 filtration Methods 0.000 claims description 12
- 238000010276 construction Methods 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 5
- 238000003786 synthesis reaction Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 239000011717 all-trans-retinol Substances 0.000 claims 1
- 239000011800 void material Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 abstract description 17
- 230000033001 locomotion Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007261 regionalization Effects 0.000 description 2
- 241000287196 Asthenes Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of collision prevention with connect the unmanned boat distribution formation control method for keeping constraint lower, comprising steps of constructing the kinematics and dynamics modeling of unmanned boat;Information exchange in unmanned boat fleet system between each individual is described with undirected topological diagram;Establish the range error equation, virtual course angle error equation and azimuth angle error equation of adjacent unmanned boat on kth side, and by collision prevention with connect the restricted problem for keeping constraint specification formation error in pairs;Ensure that formation error meets the constraint condition of default transient performance using logarithm obstacle liapunov function, and carries out the design of Virtual Controller for the virtual course angle error system, range error system and azimuth angle error system of i-th of unmanned boat with backstepping technique method;Formation control device design in dynamic surface control technology avoid to Virtual Controller repeatedly derivation problem with solve the problems, such as that acceleration can not be surveyed;Design the distributed formation control device based on disturbance observer.
Description
Technical field
The present invention relates to the formation control field of unmanned boat, in particular to a kind of collision prevention with connect keep constraint under nobody
Ship distribution formation control method.
Background technique
Formation motion control is a typical problem of more unmanned boat cooperative systems, is the pass for realizing unmanned boat work compound
One of key technology.Unmanned boat with certain formation structure compares single unmanned boat efficiency when completing certain complicated risky operation
It is higher, exploration in water, target homing, sea chart drafting, resources survey etc..
Compared with the Trajectory Tracking Control of single unmanned boat, one of the difficult point of formation motor control problems is reference locus
(usually being generated as virtual pilotage people) can not be acquired in all follower.Therefore, the follower in fleet system mainly according to
By backfence information exchange, using from neighbours local message and self information local computing oneself control signal,
I.e. each unmanned boat plans that itself is acted in next step using distributed formation control device strategy, to reach the system of forming and keeping
The purpose of pattern formation.
When unmanned boat fleet system navigates by water under complicated sea situation, unknown outside extraneous stormy waves, ocean current etc. disturb will receive
Dynamic influence, it is easy to deviate preset ideal trajectory, enter the transient process of adjustment trajector deviation.Although using traditional
Quadratic form Li Yapu love Theory of Stability can guarantee the stability of system, but system is unable to satisfy preset transitory
Energy (overshoot and convergence rate that refer mainly to error).Therefore, another difficult point of formation motion control is how to combine
The transient state and steady-state performance of system.
Unmanned boat fleet system can encounter many problems during real navigation, for example adjacent unmanned boat enters each other
Safe distance within the scope of, be just easy to happen the danger of collision, so as to cause system penalty even collapse;If mutual
Relative position too far, since the short haul connection of wireless device in practical application is restricted communication link, in communication capacity
In the case where topically effective, and adjacent unmanned boat can be made not receive the signal of other side's transmission, weaken communication quality.Cause
This, collision avoids keeping with communication connection being also problem in need of consideration.
In addition, the variable that is difficult to handle and be unable to measure is usually contained in the derivative of Virtual Controller, external unknown time-varying
Disturbance can also impact system performance, and these problems all bring huge challenge to unmanned boat distribution formation control.
Summary of the invention
The purpose of the present invention is being directed to the problems of the prior art, a kind of collision prevention is provided and the nothing that connect under holding constrains
People's ship distribution formation control method, the method design distributed formation control device for the unmanned boat that model determines, it is ensured that
The distance and angle of adjacent unmanned boat are in a preassigned distance range always in entire movement of forming into columns, and are formed into columns and are missed
Difference meets preassigned steady-state performance and transient performance, and can be avoided communication connection when collision occurs, remains initial
State and the desired formation mode of formation.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of collision prevention with connect the unmanned boat distribution formation control method kept under constraint, the method includes following steps
It is rapid:
Step (1): the kinematics and dynamics modeling of unmanned boat in fleet system is established;
Step (2): Associative algcbra graph theoretic approach uses non-directed graphTo describe the information in unmanned boat fleet system between each individual
Interaction;
Step (3): the range error equation of adjacent unmanned boat on kth side is establishedVirtual course angle error equation
And azimuth angle error equationWhereinM is non-directed graphIn all different sides total quantity,
It communicates to connect to avoid collision and keeping, is described as collision prevention with the restricted problem kept is connect in conjunction with default capabilities control technology
To the restricted problem of formation error;
Step (4): logarithmic barrier function is introduced in Li Yapu love Function Synthesis design method, and construction is corresponding right
Number obstacle Li Yapu love function, it is ensured that after formation error is no more than preset transient performance constraint condition, and utilization
The virtual course angle error system, range error system and azimuth angle error system that design method is pushed away for i-th of unmanned boat carry out
The design of Virtual Controller, wherein i ∈ { 1,2 ... n }, n are the total number of unmanned boat in fleet system;
Step (5): dynamic surface control technology is introduced, on the basis of step (4) utilize backstepping technique method to avoid appearance
Virtual Controller repeatedly derivation the problem of and controller in the problem of including the acceleration information of neighbours' unmanned boat;
Step (6): based on step (3) to algebraic graph theory method, the default capabilities control technology, logarithm obstacle in step (5)
Li Yapu love function, backstepping technique method and dynamic surface control technology, and unknown external disturbance is carried out using disturbance observer
Estimation and compensation are to design suitable distributed formation control device.
Further, in step (1), the kinematics and dynamics modeling of i-th of unmanned boat are as follows:
First three items in above formula are the kinematical equations of system, wherein (xi,yi) indicate i-th of unmanned boat in geodetic coordinates
It is (OeXeYe) under position;ψiFor the course angle under earth coordinates;In each component corresponding to body sit
Mark system (obxbyb) under forward speed ui, swaying speed υiWith steering angular velocity ri;Last in above formula is the dynamic of system
Mechanical equation, wherein Mi> 0 is inertial matrix;For total coriolis force and centripetal acceleration matrix;To damp square
Battle array;τiIndicate the control input of unmanned boat;τωi(t) the external unknown time-varying due to caused by the natural causes such as stormy waves, ocean current is indicated
Disturbance;Matrix Mi,WithConcrete form difference it is as follows:
Wherein
In above formula, miIt is the quality of i-th of unmanned boat;IziIt is the rotary inertia on steering angular velocity direction; WithIt is additional mass;xgiIt is i-th of unmanned boat in xbCenter of gravity on coordinate;X(·), Y(·)And N(·)It is to advance respectively
Linear and a secondary fluid dynamics damped coefficient on directional velocity, swaying directional velocity and steering angular velocity direction.
Further, in step (2), non-directed graph is usedTo describe in unmanned boat fleet system between each individual
Information exchange,It is finite nonempty set conjunction, referred to as vertex set, wherein the vertex correspondence that number is 0 is virtually led
Boat person, each vertex correspondence in set { 1,2, ..., N } have the follower of identical number;
It is finite aggregate, referred to as side collection, each edge are corresponding with the identical adjacent unmanned boat numbered and can communicated with each other;Non-directed graph's
Adjacency matrix A=(aij)(N+1)×(N+1)Element aij∈ { 0,1 }, when the information of the available unmanned boat j of unmanned boat i, j at this time
Referred to as tail portion, i are known as head, aij=1, otherwise aij=0;The neighbours of vertex i collect is defined as:
To avoid error defined in step (3) from producing ambiguity, non-directed graph is given in advanceIn each edge specify a side
To introducing incidence matrix B=(bij)(N+1)×M, wherein M beIn all different sides total quantity, each element definition in matrix
Are as follows:
It usesIndicate kth side, wherein
Further, the adjacent unmanned boat i in step (3), on kth sidekAnd jkRelative positionAzimuthWith virtual course angleIt is specifically defined are as follows:
Wherein
Communication connection is kept: radius isBorder circular areas indicate unmanned boat ikThe region that information can be received, when every
When the communication range of a unmanned boat is limited, to guarantee stable and reliable communication, adjacent unmanned boat ikAnd jkDistance must be positioned at
Vertex i in communication zone, i.e., on kth sidek、jkBetween distance must meet
Wherein,For the radius of the communication zone on preset kth side;
Collision avoids: radius isBorder circular areas indicate unmanned boat ikHull radius, when any pair it is adjacent nobody
Ship can just prevent collision, i.e., adjacent unmanned boat i outside mutual default safety zonekAnd jkBetween distance must meet
Wherein,dk,conIt is avoided collision on preset kth side
Least radius;
Azimuth-limited: adjacent unmanned boat ik、jkCentral point obBetween line be known as central point line, azimuthFor unmanned boat ikCourse angle and ik、jkAngle between central point line, the angle is counterclockwise, and value is positive, clockwise
Value is negative, to guarantee the safety and communication quality when the navigation of unmanned boat fleet system, it is necessary to ensure that
Wherein θk,conMeet 0 < θ of inequalityk,con<π/2;
The formation position error being defined as followsFormation angular errorWith
Wherein, dk,des、θk,desAnd ψk,desIt is opposite to respectively indicate ideal distance on kth side, desirable orientation angle and ideal
Course angle, usually their value are constant, and 0 < d of inequalityk,col<dk,des<dk,conWith | θk,des|<θk,con< pi/2 assembly
It is vertical, it is clear that if errorWithMeet following inequality, then communicate to connect holding, collision avoid with azimuth by
Limit just can be guaranteed:
Wherein,
WithThe quality of fleet system performance is affected since transient performance is serious, using pre- performance function as mistake
The boundary function of difference, to formation errorWithIt is constrained, specific constraint is as follows
Wherein, nk=dk,θk,ψk;WithBe specified by designer, it is smooth, bounded and decline with the time
The function subtracted, it is contemplated that it is just elected to be boundary function by the characteristic of exponential functionWithI.e.WithConcrete form
For
In above formula,WithThe also referred to as default capabilities function of monotone decreasing;Initial value Parameter WithBe greater than zero can design parameter, and relationship must be met:WithIts
InWithIndicate the maximum steady state error amount allowed.Reasonable above-mentioned parameter of choosing can make errorMeet
Preset transient performance (referring mainly to convergence rate and overshoot) and steady-state performance (referring mainly to steady-state error).
Further, in step (4), due under the conditions of not violating default transient state and steady state constraint, using traditional two
Secondary type Li Yapu love function design controller, which is one, very has the problem of challenge, therefore introduces logarithmic barrier function and solve
Restricted problem.Formation angular errorCorresponding logarithmic barrier functionConcrete form it is as follows
In above formula,Ln () indicates natural logrithm, can from above formula
Know, ifValue always in the opener comprising zero pointFluctuation, function in rangeBounded always is incited somebody to action, only
Following two situation is occurred,Value just can be infinitely great or infinitely small: whenWhen,WhenWhen,Therefore it can be achieved by ensuring that functionBoundedness guarantee errorAlways not
The preset transient state of violation formula and steady state constraint;DefinitionDue to functionIt is not a positive definite letter
Number, therefore reconfigure a kind of nonnegative function that control design case is carried out based on Li Yapu love function, referred to as logarithm obstacle Li Ya
General love function, specific as follows:
Virtual Controller design is carried out for virtual course angle error system with backstepping technique method, then i-th of unmanned boat
Virtual Controller αriAre as follows:
Wherein
kriBe greater than zero can design parameter;It indicates the side of connection vertex i and vertex j, i.e.,It is equivalent toThis literary style, to have WithMeet following relationship: when vertex, i is side
kijHead when, Δ (i, kij)=1;When vertex, i is side kijTail portion when, Δ (i, kij)=- 1;Otherwise Δ (i, kij)=0;
Similarly, logarithmic barrier function is introducedWithGuarantee formation position error respectivelyWith formation angular errorPreset transient state and steady state constraint are not violated, and limitation problem is converted into boundedness problem, considers such as minor function
Wherein χ=d, θ;Construction as follows aboutWithNon-negative logarithm obstacle Li Yapu love
Function
For range error system and azimuth angle error system, the Virtual Controller α obtained with backstepping technique methoduiWith
αυiFor
Wherein
kuiAnd kυiBe greater than zero can design parameter;AngleVariableRespectively indicate adjacent unmanned boat i on kth sidekAnd jkRelative position, azimuth and virtual course
Angle;WithRespectively correspond unmanned boat j on kth sidekForward speed and swaying speed;Unmanned boat on corresponding kth side
ikSteering angular velocity;WithForm it is as follows
Further, in step (5), to avoid Virtual Controller, derivation (asks second order or higher derivative to will increase meter repeatedly
Calculation amount) and prevent from including acceleration item in designed controller, dynamic surface control technology is introduced, using dynamic surface control
When technology, Virtual Controller α is allowedθi, wherein θ=u, υ, filter Virtual Controller by obtaining after a low-pass first order filter
αθfi, to offset some coupling terms, selection allows αθmiBy filter to obtain αθfi, specific as follows shown
Wherein, μui> 0 and μυi> 0 is programmable time constant filter;YuiAnd YυiForm difference it is as follows
Wherein, angleVariableIt respectively indicates adjacent on kth side
Unmanned boat ikAnd jkRelative position, azimuth and virtual course angle;WithIt is logarithmic barrier function;With?
It is the function about system state variables.
Further, in step (6), skill is controlled to algebraic graph theory method, the default capabilities in step (5) based on step (3)
Art, logarithm obstacle Li Yapu love function, backstepping technique method and dynamic surface control technology, and use following disturbance observer pair
Unknown external disturbance τωiEstimated and is compensated
Wherein, Kdi=diag { kd1i,kd2i,kd3iBe by greater than zero can the positive definite matrix that constitutes of design parameter;For
τωiEstimated value;For the state vector of three-dimensional observation device;Then distributed formation control device τiIt can design are as follows:
Wherein
Diagonal matrix Kτi=diag { kτ1i,kτ2i,kτ3iIt is by can the positive definite matrix that constitutes of design parameter;MiFor inertial matrix;For total coriolis force and centripetal acceleration matrix;For damping matrix;Qi(pij,ψij) be system state variables letter
Number;Error vector ei=[eui,eυi,eri]T, wherein eui、eυiAnd eriRespectively indicate the forward speed u of i-th of unmanned boatiWith filter
Wave Virtual Controller αufiDifference, swaying speed υiWith filtering Virtual Controller αυfiDifference, steering angular velocity riWith Virtual Controller
αriDifference:
eui=ui-αufi
eυi=υi-αυfi
eri=ri-αri
VectorWherein eαuiAnd eαui
For level error, the filtering Virtual Controller α of i-th of unmanned boat is respectively indicatedufiWith Virtual Controller αuiDifference, filtering it is virtual
Controller αυfiWith Virtual Controller αυiDifference:
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, the formation control device designed by the present invention is distributed formation control device.Since reference locus is (usually by virtual
Pilotage people generates) not acquired in all follower, therefore the follower in fleet system are mainly using reception from neighbour
For the local message and self information in residence in the control signal of local computing oneself, i.e., it is designed out that each unmanned boat is based on graph theoretic approach
Distributed formation control device come plan itself in next step act, to achieve the purpose that form and keep system pattern formation.
2, the stable state of formation control system and transient performance are important indicators in need of consideration in controller design.The present invention
In conjunction with default capabilities control technology, make in formation error convergence to a preset allowed band, and guarantees error
The transient performances such as convergence rate and overshoot meet certain preset values, that is, require transient state and steady-state performance while being expired
Foot.
3, the present invention introduces logarithmic barrier function in Li Yapu love Function Synthesis design method, and construction is corresponding right
Number type obstacle Li Yapu love function, it is ensured that formation error is no more than preset restriction range, so that adjacent unmanned boat
It does not collide, the desired ideal formation mode of the communication connection status and realization when remaining initial.
Detailed description of the invention
Fig. 1 is the basic formation structural schematic diagram in working region of the embodiment of the present invention.
Fig. 2 is the undirected communication topology figure of unmanned boat of embodiment of the present invention fleet system.
Fig. 3 is the whole control block diagram of the formation control of unmanned boat of the embodiment of the present invention.
Fig. 4 is the phase-plane diagram of unmanned boat of embodiment of the present invention formation movement.
Fig. 5 is tail clearance of embodiment of the present invention variable analogous diagram.
Fig. 6 (a) is that the embodiment of the present invention is formed into columns the azimuthal variations analogous diagram on the 1st article of side, and Fig. 6 (b) is that the present invention is implemented
The azimuthal variations analogous diagram on the 2nd and the 4th article of side of example formation, Fig. 6 (c) are the side on the 3rd and the 5th article of side of formation of the embodiment of the present invention
Parallactic angle variable analogous diagram.
Fig. 7 is formation of embodiment of the present invention virtual course angle error variable analogous diagram.
Fig. 8 is formation control of embodiment of the present invention device τuiExport analogous diagram.
Fig. 9 is formation control of embodiment of the present invention device τυiExport analogous diagram.
Figure 10 is formation control of embodiment of the present invention device τriExport analogous diagram.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment:
Collision prevention keeps the distributed formation control of the unmanned boat under constraint with connecting, and altogether includes a virtual neck in formation
Boat person and five follower.Fig. 1 is the basic formation structural schematic diagram in working region, and Fig. 2 is the undirected communication of fleet system
Topological diagram.
It is illustrated in figure 3 the whole controller chassis of collision prevention with the distributed formation control for the unmanned boat connecting under keeping constraining
Figure, the detailed implementation process of control method include the following steps:
Step (1): the kinematics and dynamics modeling of i-th of unmanned boat, vector form are established are as follows:
First item in above formula is the kinematical equation of system.Wherein, ηi=[xi,yi,ψi]TIndicate that i-th of unmanned boat exists
Earth coordinates (OeXeYe) under position (xi,yi) and course angle ψi;Indicate that i-th of unmanned boat is sat in body
Mark system (obxbyb) under corresponding forward speed (ui), swaying speed (υi) and steering angular velocity (ri).Section 2 in above formula is
The kinetics equation of system.Wherein, Mi> 0 is inertial matrix;C(νi) it is total coriolis force and centripetal acceleration matrix;D(νi) be
Damping matrix;τiIndicate the control input of unmanned boat;τωi(t) indicate outer due to caused by the natural causes such as sea wind, wave, ocean current
The unknown time-varying disturbance in portion.Matrix J (ψi), Mi, C (νi) and D (νi) concrete form are as follows:
Wherein
In above formula, miIt is the quality of i-th of unmanned boat;IziIt is the rotary inertia on steering angular velocity direction; WithIt is additional mass;xgiIt is i-th of unmanned boat in xbCenter of gravity on coordinate;X(·), Y(·)And N(·)It is to advance respectively
Linear and a secondary fluid dynamics damped coefficient on directional velocity, swaying directional velocity and steering angular velocity direction.
In the present embodiment, the system parameter difference of unmanned boat is as shown in table 1 below.
1 unmanned boat model parameter of table
In this example, the setting of the position of five follower's unmanned boats of initial time, course angle and speed is respectively η1
(0)=[- 3.4,0.6,0]T、η2(0)=[- 6.828,2.828,0.1]T、η3(0)=[- 6.828, -2.828, -0.1]T、η4
(0)=[- 9.657,5.657,0.2]T、η5(0)=[- 9.657,5.657,0.2]T;The speed of initial time is νi(0)=
[0,0,0]T。
In this example, the form of external disturbance is
τωi(t)=[4sin (ω ' t), 5sin (ω ' t), 6cos (ω ' t)]T
Wherein, ω '=0.06rad/s.It is by the reference locus that virtual pilotage people generates
η0=[R ω sin (ω t), R ω (1-cos (ω t)), ω t]T
Wherein, ω=0.02rad/s, R=60m, i.e. reference locus are a circle, radius 60m.
Step (2): non-directed graphFor describing the information exchange in unmanned boat fleet system between each individual. It is that finite nonempty set is closed, referred to as vertex set is gathered wherein numbering the virtual pilotage people of vertex correspondence for being 0
1,2, ..., N in each vertex correspondence have follower's unmanned boat of identical number;It is to have
Limit set, referred to as side collection, the adjacent unmanned boat that each edge is corresponding with identical number and can communicate with each other.Non-directed graphAdjoining
Matrix A=(aij)(N+1)×(N+1)It has the property that
Above formula explanation, (j is known as tail portion at this time, and i is known as head), a when the information of the available unmanned boat j of unmanned boat iij
=1, otherwise aij=0.Since communication topology figure is non-directed graph, i.e., can be in communication with each other between two vertex connected by same side,
Therefore adjacency matrix is symmetrical matrix.The neighbours of vertex i collect is defined as:
To avoid error defined in step (3) from producing ambiguity, non-directed graph is given in advanceIn each edge specify a side
To.Although the direction of each edge can arbitrarily be chosen, when topological diagram is one tree, general default makees upper one layer of node
For the tail portion on side, head of next layer of the node as side.Introduce incidence matrix B=(bij)(N+1)×M, wherein M beIn own
The total quantity on different sides.Each element in matrix is defined as:
It usesIndicate kth side, wherein
This example is as shown in Figure 2.Wherein,Five sides are all referred in figure
Direction is determined, and the desirable orientation angle on five sides is respectively θ1,des=0, θ2,des=θ4,des=-π/4 and θ3,des=θ5,des=π/
4.The neighbours of five follower collect WithAs shown in Fig. 4 unmanned boat fleet system is in phase plane
Actual path figure.
Step (3): the adjacent unmanned boat i on kth sidekAnd jkRelative position, azimuth and virtual course angle definition
It is as follows
Wherein
Communication connection is kept: radius di,conBorder circular areas indicate that unmanned boat i can receive the region of information.When each
When the communication range of unmanned boat is limited, to guarantee stable and reliable communication, adjacent unmanned boat ikAnd jkDistance must be positioned at it is logical
Believe in region, i.e., the vertex i on kth sidek、jkBetween distance must meet
Wherein,For the radius of the communication zone on preset kth side.
Collision avoids: radius RiBorder circular areas indicate unmanned boat i hull radius.When the unmanned boat position of arbitrary neighborhood
In outside default safety zone, collision, i.e., adjacent unmanned boat i can be just preventedkAnd jkBetween distance must meet
Wherein,dk,conIt is avoided collision on preset kth side
Least radius.
Azimuth-limited: adjacent unmanned boat ik、jkCentral point obBetween line be known as central point line, azimuthFor unmanned boat ikCourse angle and ik、jkAngle between central point line, the angle is counterclockwise, and value is positive, clockwise
Value is negative.To guarantee the safety and communication quality when the navigation of unmanned boat fleet system, it is necessary to ensure that
Wherein θk,conMeet 0 < θ of inequalityk,con<π/2。
The formation position error being defined as followsFormation angular errorWith
Wherein, dk,des、θk,desAnd ψk,desIt is opposite to respectively indicate ideal distance on kth side, desirable orientation angle and ideal
Course angle, usually their value are constant, and 0 < d of inequalityk,col<dk,des<dk,conWith | θk,des|<θk,con< pi/2 assembly
It is vertical.Obviously, if errorWithMeet following inequality, then communicate to connect holding, collision avoid with azimuth by
Limit just can be guaranteed.
Wherein,
WithThe quality of fleet system performance is affected since transient performance is serious, using pre- performance function as mistake
The boundary function of difference, to formation errorWithIt is constrained.Specific constraint is as follows
Wherein, nk=dk,θk,ψk;WithBe specified by designer, it is smooth, bounded and decline with the time
The function subtracted.In view of the characteristic of exponential function, it is just elected to be boundary functionWithI.e.WithConcrete form
For
In above formula,WithThe also referred to as default capabilities function of monotone decreasing;Initial value Parameter WithBe greater than zero can design parameter, and relationship must be met:WithIts
InWithIndicate the maximum steady state error amount allowed.Reasonable above-mentioned parameter of choosing can make errorIt is full
The preset transient performance (referring mainly to convergence rate and overshoot) of foot and steady-state performance (referring mainly to steady-state error).
In the present embodiment, the safe distance of five groups of adjacent unmanned boats, communication radius, ideal relative position distance, side
Parallactic angle range and the value at ideal virtual course angle are set to: dk,col=dcol=3m, dk,con=dcon=5m, dk,des
=ddes=4m, θk,con=θcon=pi/2-0.2 and ψk,des=ψdes=0.
Default capabilities functionWithConcrete form be respectively
The actual range d of i.e. adjacent unmanned boatijConstraint section be
It is illustrated in figure 5 tail clearance variable dijChange with time figure, Cong Tuzhong dijChange procedure knows that ship spacing is most
All it is intended to ideal spacing d eventuallydesNear.Moreover, the transient swing process of ship spacing does not cross the upper following of setting always
Boundary.This analogous diagram illustrates that control program can preferably solve the problems, such as that collision avoids and communicate to connect holding.
As Fig. 6 (a), Fig. 6 (b), Fig. 6 (c) show formation azimuthal variations θijChange with time figure, it is known that θijBegin
Eventually in the constraint section of angular field of viewInterior variation, and finally all converge to theorem
Think azimuth angle thetak,desNear.This analogous diagram illustrates that control program can preferably solve the problems, such as azimuth-limited.
Fig. 7 show formation virtual course angle error variableChange with time figure.ErrorAlways constrain in
In fixed boundary, meet preset transient state and steady-state performance, that is, there is lesser overshoot, faster convergence rate and errorZero crossings can finally be converged to.
Step (4): it introduces logarithmic barrier function and solves restricted problem.Formation angular errorCorresponding logarithm obstacle
FunctionConcrete form it is as follows
In above formula,Ln () indicates natural logrithm.It can from above formula
Know, ifValue always in the opener comprising zero pointFluctuation, function in rangeTo bounded always.Only
Following two situation is occurred,Value just can be infinitely great or infinitely small: whenWhen,WhenWhen,It therefore can be by ensuring functionBoundedness guarantee errorAlways not
The preset transient state of violation formula and steady state constraint.DefinitionDue to functionIt is not a positive definite letter
Number, therefore reconfigure a kind of nonnegative function that control design case is carried out based on Li Yapu love function, referred to as logarithm obstacle Li Ya
General love function, it is specific as follows
Virtual Controller design is carried out for virtual course angle error system with backstepping technique method, then i-th of unmanned boat
Virtual Controller αriAre as follows:
Wherein
kriBe greater than zero can design parameter;It indicates the side of connection vertex i and vertex j, i.e.,It is equivalent toThis literary style, to have WithΔ(i,kij) meet following relationship: when vertex, i is side
kijHead when, Δ (i, kij)=1;When vertex, i is side kijTail portion when, Δ (i, kij)=- 1;Otherwise Δ (i, kij)=0.
Similarly, logarithmic barrier function is introducedWithGuarantee formation position error respectivelyWith formation angular errorPreset transient state and steady state constraint are not violated, and limitation problem is converted into boundedness problem.Consider such as minor function
Wherein χ=d, θ;Construction as follows aboutWithNon-negative logarithm obstacle Li Yapu love
Function
For range error system and azimuth angle error system, the Virtual Controller α obtained with backstepping technique methoduiWith
αυiFor
Wherein
kuiAnd kυiBe greater than zero can design parameter;AngleVariableRespectively indicate adjacent unmanned boat i on kth sidekAnd jkRelative position, azimuth and virtual course
Angle;WithRespectively correspond unmanned boat j on kth sidekForward speed and swaying speed;Unmanned boat on corresponding kth side
ikSteering angular velocity;WithForm it is as follows
Step (5): to avoid derivation repeatedly (second order or higher derivative is asked to will increase calculation amount) and preventing designed
Include acceleration item in controller, introduces dynamic surface control technology.When using dynamic surface control technology, general way
It is to allow Virtual Controller αθi(θ=u, υ) is by obtaining filtering Virtual Controller α θ after a low-pass first order filterfi.To offset
The selection of some coupling terms allows αθmiBy filter to obtain αθfi, specific as follows shown
Wherein μui> 0 and μυi> 0 is programmable time constant filter, in the present embodiment, chooses μui=0.8, μυi=
0.1;
YuiAnd YυiForm difference it is as follows
Step (6): based on step (3) to algebraic graph theory method, the default capabilities control technology, logarithm obstacle in step (5)
Li Yapu love function, backstepping technique method and dynamic surface control technology, and unknown outside is disturbed using following disturbance observer
Dynamic τωiEstimated and is compensated
Wherein, Kdi=diag { kd1i,kd2i,kd3iBe by greater than zero can the positive definite matrix that constitutes of design parameter, in this reality
It applies in example, chooses Kdi=diag { 1.2,1.2,1.2 };For τωiEstimated value;For the state vector of three-dimensional observation device,
Initial value is taken asThen distributed formation control device τiIt may be designed as:
Wherein
Diagonal matrix Kτi=diag { kτ1i,kτ2i,kτ3iIt is by can the positive definite matrix that constitutes of design parameter;MiFor inertial matrix;For total coriolis force and centripetal acceleration matrix;For damping matrix;Qi(pij,ψij) be system state variables letter
Number;Error vector ei=[eui,eυi,eri]T, wherein eui、eυiAnd eriRespectively indicate the forward speed u of i-th of unmanned boatiWith filter
Wave Virtual Controller αufiDifference, swaying speed υiWith filtering Virtual Controller αυfiDifference, steering angular velocity riWith Virtual Controller
αriDifference:
eui=ui-αufi
eυi=υi-αυfi
eri=ri-αri
VectorWherein eαuiAnd eαui
For level error, the filtering Virtual Controller α of i-th of unmanned boat is respectively indicatedufiWith Virtual Controller αuiDifference, filtering it is virtual
Controller αυfiWith Virtual Controller αυiDifference:
eαui=αufi-αui
eαυi=αυfi-αυi
In the present embodiment, K is chosenτi=diag { 4,1,4 }.Fig. 8 to Figure 10 show the control input of fleet system
τui、τυiAnd τriChange curve, it is known that their continuous boundeds and more smooth.
The distributed formation control device of the present embodiment can make each of unmanned boat fleet system individual merely with neighbours
Local message can plan itself next step track, to realize desired formation mode, while maintaining initial time
Communication connection quality prevents collision generation, azimuth from constraining always in the visible range, and formation error meets preset transitory
It can and finally converge in a sufficiently small neighborhood of equalization point zero point.
Present invention combination default capabilities control technology introduces logarithm barrier in Li Yapu love Function Synthesis design method
Hinder function, and constructs corresponding logarithm obstacle Li Yapu love function.By ensuring logarithm obstacle Li Yapu love function
Boundedness guarantee that formation error changes in the restriction range of the performance function of the bound exponential decrease of setting always, i.e.,
The convergence rate of formation error is greater than the convergence rate of performance function and overshoot does not exceed the preset overshoot of performance function.
Change the limitation of the adjustable transient performance to error of design parameter of performance function.By establishing each pair of adjacent unmanned boat
Range error equation, virtual course angle error equation and azimuth angle error equation, and collision prevention is retouched with the constraint kept is connect
After the restricted problem for stating pairs of error, if guaranteeing, error changes in the boundary as defined in performance function always, just not only can solve
Collision avoids the problem that, communicates to connect holding and azimuth-limited, it can also be ensured that the transient performance of error meets preset requirement.
Time-varying and reluctant immeasurablel variable are usually contained in the derivative of Virtual Controller.To avoid utilizing
Occur in the design process of backstepping technique method Virtual Controller repeatedly derivation the problem of, present invention combination dynamic surface control technology mentions
Go out suitable distributed formation control method to produce easy-to-handle to reduce the computational complexity of control design case
Succinct distributed director.In addition, when unmanned boat fleet system navigates by water under complicated sea situation, it can be inevitably by the external world
The external unknown disturbance such as stormy waves, ocean current influence.The present invention by design disturbance observer to unknown disturbances carry out estimation and
Compensation guarantees that closed loop formation error system is stablized.
The above, only the invention patent preferred embodiment, but the scope of protection of the patent of the present invention is not limited to
This, anyone skilled in the art is in the range disclosed in the invention patent, according to the present invention the skill of patent
Art scheme and its patent of invention design are subject to equivalent substitution or change, belong to the scope of protection of the patent of the present invention.
Claims (7)
1. a kind of collision prevention with connect keep constraint under unmanned boat distribution formation control method, which is characterized in that the method
The following steps are included:
Step (1): the kinematics and dynamics modeling of unmanned boat in fleet system is established;
Step (2): Associative algcbra graph theoretic approach uses non-directed graphTo describe the information exchange in unmanned boat fleet system between each individual;
Step (3): the range error equation of adjacent unmanned boat on kth side is establishedVirtual course angle error equationAnd
Azimuth angle error equationWhereinM is non-directed graphIn all different sides total quantity, to keep away
Exempt to collide and keep communication connection, is described as collision prevention to volume with the restricted problem kept is connect in conjunction with default capabilities control technology
The restricted problem of team's error;
Step (4): introducing logarithmic barrier function in Li Yapu love Function Synthesis design method, and constructs corresponding logarithm barrier
Hinder Li Yapu love function, it is ensured that formation error is no more than preset transient performance constraint condition, and sets with pusher
Meter method carries out virtual for the virtual course angle error system, range error system and azimuth angle error system of i-th of unmanned boat
The design of controller, wherein i ∈ { 1,2 ... n }, n are the total number of unmanned boat in fleet system;
Step (5): introducing dynamic surface control technology on the basis of step (4) utilize backstepping technique method, virtual to avoid occurring
Controller repeatedly derivation the problem of and controller in the problem of including the acceleration information of neighbours' unmanned boat;
Step (6): based on step (3) to algebraic graph theory method, the default capabilities control technology, logarithm obstacle Li Ya in step (5)
General love function, backstepping technique method and dynamic surface control technology, and unknown external disturbance is estimated using disturbance observer
With compensation to design suitable distributed formation control device.
2. a kind of collision prevention according to claim 1 with connect keep constraint under unmanned boat distribution formation control method,
It is characterized in that, in step (1), the kinematics and dynamics modeling of i-th of unmanned boat are as follows:
First three items in above formula are the kinematical equations of system, wherein (xi,yi) indicate i-th of unmanned boat in earth coordinates
(OeXeYe) under position;ψiFor the course angle under earth coordinates;In each component correspond to body coordinate
It is (obxbyb) under forward speed ui, swaying speed υiWith steering angular velocity ri;Last in above formula is the power of system
Learn equation, wherein Mi> 0 is inertial matrix;For total coriolis force and centripetal acceleration matrix;For damping matrix;
τiIndicate the control input of unmanned boat;τωi(t) the external unknown time-varying disturbance due to caused by natural cause is indicated;Matrix Mi,WithConcrete form difference it is as follows:
Wherein
In above formula, miIt is the quality of i-th of unmanned boat;IziIt is the rotary inertia on steering angular velocity direction; WithIt is additional mass;xgiIt is i-th of unmanned boat in xbCenter of gravity on coordinate;X(·), Y(·)And N(·)It is in forward speed respectively
Linear and a secondary fluid dynamics damped coefficient on direction, swaying directional velocity and steering angular velocity direction.
3. a kind of collision prevention according to claim 1 with connect keep constraint under unmanned boat distribution formation control method,
It is characterized in that, using non-directed graph in step (2)It is handed over to describe the information in unmanned boat fleet system between each individual
Mutually,It is that finite nonempty set is closed, referred to as vertex set collects wherein numbering the virtual pilotage people of vertex correspondence for being 0
Close 1,2, ..., N in each vertex correspondence have the follower of identical number; It is finite aggregate
It closes, referred to as side collection, the adjacent unmanned boat that each edge is corresponding with identical number and can communicate with each other;Non-directed graphAdjacency matrix A
=(aij)(N+1)×(N+1)Element aij∈ { 0,1 }, when the information of the available unmanned boat j of unmanned boat i, j is known as tail portion at this time,
I is known as head, aij=1, otherwise aij=0;The neighbours of vertex i collect is defined as:
To avoid error defined in step (3) from producing ambiguity, non-directed graph is given in advanceIn each edge specify a direction,
Introduce incidence matrix B=(bij)(N+1)×M, wherein M beIn all different sides total quantity, each element in matrix is defined as:
Use (jk,ik) ∈ ε indicates kth side, wherein ik、
4. a kind of collision prevention according to claim 3 with connect keep constraint under unmanned boat distribution formation control method,
It is characterized in that, the adjacent unmanned boat i in step (3), on kth sidekAnd jkRelative positionAzimuthAnd phase
To course angleIt is specifically defined are as follows:
Wherein
Communication connection is kept: radius isBorder circular areas indicate unmanned boat ikThe region that information can be received, when each nothing
When the communication range of people's ship is limited, to guarantee stable and reliable communication, adjacent unmanned boat ikAnd jkDistance must be positioned at communication
Vertex i in region, i.e., on kth sidek、jkBetween distance must meet
Wherein,For the radius of the communication zone on preset kth side;
Collision avoids: radius isBorder circular areas indicate unmanned boat ikHull radius, when any pair of adjacent unmanned boat exists
Outside mutual default safety zone, collision, i.e., adjacent unmanned boat i can be just preventedkAnd jkBetween distance must meet
Wherein,dk,conFor the most smaller part avoided collision on preset kth side
Diameter;
Azimuth-limited: adjacent unmanned boat ik、jkCentral point obBetween line be known as central point line, azimuthFor
Unmanned boat ikCourse angle and ik、jkAngle between central point line, the angle is counterclockwise, and value is positive, and value clockwise is
It is negative, to guarantee the safety and communication quality when the navigation of unmanned boat fleet system, it is necessary to ensure that
Wherein θk,conMeet 0 < θ of inequalityk,con<π/2;
The formation position error being defined as followsFormation angular errorWith
Wherein, dk,des、θk,desAnd ψk,desRespectively indicate ideal distance, desirable orientation angle and the ideal virtual course on kth side
Angle, their value are constant, and 0 < d of inequalityk,col<dk,des<dk,conWith | θk,des|<θk,con< pi/2 is always set up, it is clear that if
ErrorWithMeet following inequality, then communicates to connect holding, collision avoids just to obtain with azimuth-limited
To guarantee:
Wherein,-θk,con-θk,des<0、θk,con-θk,des>0、WithThe quality of fleet system performance is affected since transient performance is serious, using pre- performance function as error
Boundary function, to formation errorWithIt is constrained, specific constraint is as follows
Wherein, nk=dk,θk,ψk;WithBe specified by designer, it is smooth, bounded and decay with the time
Function, it is contemplated that it is just elected to be boundary function by the characteristic of exponential functionWithI.e.WithConcrete form be
In above formula,WithThe also referred to as default capabilities function of monotone decreasing;Initial value Parameter WithBe greater than zero can design parameter, and relationship must be met:WithIts
InWithIndicate the maximum steady state error amount allowed.
5. a kind of collision prevention according to claim 4 with connect keep constraint under unmanned boat distribution formation control method,
It is characterized by: in step (4), formation angular errorCorresponding logarithmic barrier functionConcrete form it is as follows
In above formula,Ln () indicate natural logrithm, if from above formula it is found that
IfValue always in the opener comprising zero pointFluctuation, function in rangeBounded always is incited somebody to action, is only gone out
Existing following two situation,Value just can be infinitely great or infinitely small: whenWhen,WhenWhen,Therefore it can be achieved by ensuring that functionBoundedness guarantee error
Always the preset transient state of formula and steady state constraint are not violated;DefinitionDue to functionIt is not
One positive definite integral form, therefore a kind of nonnegative function that control design case is carried out based on Li Yapu love function is reconfigured, referred to as pair
Number obstacle Li Yapu love function, specific as follows:
Virtual Controller design is carried out for virtual course angle error system with backstepping technique method, then the void of i-th of unmanned boat
Quasi- controller αriAre as follows:
Wherein
kriBe greater than zero can design parameter;It indicates the side of connection vertex i and vertex j, i.e.,Deng
Valence in(jk,ik) this literary style of ∈ ε, to have WithΔ(i,kij) meet following relationship: when vertex, i is side kijHead when, Δ (i, kij)=1;Work as top
Point i is side kijTail portion when, Δ (i, kij)=- 1;Otherwise Δ (i, kij)=0;
Similarly, logarithmic barrier function is introducedWithGuarantee formation position error respectivelyWith formation angular errorNo
Preset transient state and steady state constraint are violated, limitation problem is converted into boundedness problem, considers such as minor function
Wherein χ=d, θ;Construction as follows aboutWithNon-negative logarithm obstacle Li Yapu love function
For range error system and azimuth angle error system, the Virtual Controller α obtained with backstepping technique methoduiAnd αviFor
Wherein
kuiAnd kviBe greater than zero can design parameter;AngleVariable
Respectively indicate adjacent unmanned boat i on kth sidekAnd jkRelative position, azimuth and virtual course angle;WithIt is right respectively
Answer unmanned boat j on kth sidekForward speed and swaying speed;Unmanned boat i on corresponding kth sidekSteering angular velocity;
ζχkAnd lχkForm it is as follows
6. a kind of collision prevention according to claim 5 with connect keep constraint under unmanned boat distribution formation control method,
It is characterized by: in step (5), for avoid Virtual Controller repeatedly derivation and prevent include in designed controller plus
Speed term introduces dynamic surface control technology, when using dynamic surface control technology, allows Virtual ControllerWhereinIt is logical
Filtering Virtual Controller is obtained after crossing a low-pass first order filterTo offset some coupling terms, selection is allowedPass through
Filter is to obtainShown in specific as follows
Wherein, μui> 0 and μυi> 0 is programmable time constant filter;YuiAnd YυiForm difference it is as follows
Wherein, angleVariableRespectively indicate on kth side it is adjacent nobody
Ship ikAnd jkRelative position, azimuth and virtual course angle;WithIt is logarithmic barrier function;WithIt is to close
In the function of system state variables.
7. a kind of collision prevention according to claim 6 with connect keep constraint under unmanned boat distribution formation control method,
It is characterized by: in step (6), based on step (3) to algebraic graph theory method, the default capabilities control technology, logarithm in step (5)
Obstacle Li Yapu love function, backstepping technique method and dynamic surface control technology, and using following disturbance observer to unknown outer
Portion disturbs τωiEstimated and is compensated
Wherein, Kdi=diag { kd1i,kd2i,kd3iBe by greater than zero can the positive definite matrix that constitutes of design parameter;For τωi's
Estimated value;For the state vector of three-dimensional observation device;Then distributed formation control device τiIt can design are as follows:
Wherein
Diagonal matrix Kτi=diag { kτ1i,kτ2i,kτ3iIt is by can the positive definite matrix that constitutes of design parameter;MiFor inertial matrix;
For total coriolis force and centripetal acceleration matrix;For damping matrix;Qi(pij,ψij) be system state variables function;Accidentally
Difference vector ei=[eui,eυi,eri]T, wherein eui、eυiAnd eriRespectively indicate the forward speed u of i-th of unmanned boatiIt is virtual with filtering
Controller αufiDifference, swaying speed υiWith filtering Virtual Controller αυfiDifference, steering angular velocity riWith Virtual Controller αriIt
Difference:
eui=ui-αufi
eυi=vi-αυfi
eri=ri-αri
VectorWherein eαuiAnd eαuiFor layer
Surface error respectively indicates the filtering Virtual Controller α of i-th of unmanned boatufiWith Virtual Controller αuiDifference, filtering virtual controlling
Device αυfiWith Virtual Controller αυiDifference:
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910560210.9A CN110196599B (en) | 2019-06-26 | 2019-06-26 | Unmanned ship distributed formation control method under collision avoidance and connection keeping constraints |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910560210.9A CN110196599B (en) | 2019-06-26 | 2019-06-26 | Unmanned ship distributed formation control method under collision avoidance and connection keeping constraints |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110196599A true CN110196599A (en) | 2019-09-03 |
CN110196599B CN110196599B (en) | 2020-08-18 |
Family
ID=67755248
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910560210.9A Active CN110196599B (en) | 2019-06-26 | 2019-06-26 | Unmanned ship distributed formation control method under collision avoidance and connection keeping constraints |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110196599B (en) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110879599A (en) * | 2019-12-12 | 2020-03-13 | 大连海事大学 | Fixed time formation control method based on finite time disturbance observer |
CN111123944A (en) * | 2019-12-30 | 2020-05-08 | 山东省科学院自动化研究所 | State-limited multi-robot system cooperative control method and system |
CN111176324A (en) * | 2019-12-31 | 2020-05-19 | 航天时代飞鸿技术有限公司 | Method for avoiding dynamic obstacles by multi-unmanned aerial vehicle distributed collaborative formation |
CN111208830A (en) * | 2020-02-23 | 2020-05-29 | 陕西理工大学 | Three-closed-loop formation track tracking control method for wheeled mobile robot |
CN111506114A (en) * | 2020-05-25 | 2020-08-07 | 北京理工大学 | Aircraft formation control method |
CN112083727A (en) * | 2020-09-06 | 2020-12-15 | 东南大学 | Multi-autonomous system distributed collision avoidance formation control method based on speed barrier |
CN112099506A (en) * | 2020-09-17 | 2020-12-18 | 北京航空航天大学 | Tracking control method and system for under-actuated unmanned ship time-varying formation |
CN112650231A (en) * | 2020-12-15 | 2021-04-13 | 哈尔滨工程大学 | Under-actuated ship formation control system for realizing collision and obstacle avoidance |
CN112947462A (en) * | 2021-03-02 | 2021-06-11 | 广东省智能机器人研究院 | Unmanned ship group formation cooperative control method considering time-varying drift angle and attitude adjustment |
CN112987758A (en) * | 2021-04-29 | 2021-06-18 | 电子科技大学 | Multi-water-surface aircraft cooperative tracking formation control method |
CN113093739A (en) * | 2021-03-25 | 2021-07-09 | 大连海事大学 | Optimized controller for preventing collision of multiple unmanned boats in formation and structure and design method thereof |
CN113268056A (en) * | 2021-04-07 | 2021-08-17 | 上海中船船舶设计技术国家工程研究中心有限公司 | Ship course formation control method based on Markov switching topological graph |
CN114035566A (en) * | 2021-09-08 | 2022-02-11 | 哈尔滨工程大学 | Design method, system and device of finite-time anti-saturation controller of unmanned ship |
CN114355878A (en) * | 2021-11-26 | 2022-04-15 | 珠海云洲智能科技股份有限公司 | Unmanned ship and unmanned plane performance control method, device, system and storage medium |
CN117369267A (en) * | 2023-10-31 | 2024-01-09 | 东海实验室 | Method and system for controlling underwater helicopter surrounding formation under event triggering frame |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107085427A (en) * | 2017-05-11 | 2017-08-22 | 华南理工大学 | A kind of unmanned water surface ship formation control method for following structure based on leader |
CN108983786A (en) * | 2018-08-08 | 2018-12-11 | 华南理工大学 | A kind of communication context constrains the formation control method of lower mobile robot |
CN109765921A (en) * | 2019-03-04 | 2019-05-17 | 北京航空航天大学 | A kind of Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision |
-
2019
- 2019-06-26 CN CN201910560210.9A patent/CN110196599B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107085427A (en) * | 2017-05-11 | 2017-08-22 | 华南理工大学 | A kind of unmanned water surface ship formation control method for following structure based on leader |
CN108983786A (en) * | 2018-08-08 | 2018-12-11 | 华南理工大学 | A kind of communication context constrains the formation control method of lower mobile robot |
CN109765921A (en) * | 2019-03-04 | 2019-05-17 | 北京航空航天大学 | A kind of Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision |
Non-Patent Citations (2)
Title |
---|
DIMITRA PANAGOU,ET AL.: "Distributed coordination control for multi-robot networks using Lyapunov-Like barrier functions", 《IEEE TRANSACTIONS ON AUTOMATIC CONTROL》 * |
JIA YUAN,ET AL.: "Distributed Adaptive Formation Control of MSVs With Prescribed Performance Under Undirected Graph", 《PROCEEDINGS OF THE 37TH CHINESE CONTROL CONFERENCE》 * |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110879599A (en) * | 2019-12-12 | 2020-03-13 | 大连海事大学 | Fixed time formation control method based on finite time disturbance observer |
CN111123944A (en) * | 2019-12-30 | 2020-05-08 | 山东省科学院自动化研究所 | State-limited multi-robot system cooperative control method and system |
CN111123944B (en) * | 2019-12-30 | 2023-09-08 | 山东省科学院自动化研究所 | Multi-robot system cooperative control method and system with limited states |
CN111176324A (en) * | 2019-12-31 | 2020-05-19 | 航天时代飞鸿技术有限公司 | Method for avoiding dynamic obstacles by multi-unmanned aerial vehicle distributed collaborative formation |
CN111176324B (en) * | 2019-12-31 | 2023-08-11 | 航天时代飞鸿技术有限公司 | Method for avoiding dynamic obstacle by multi-unmanned aerial vehicle distributed collaborative formation |
CN111208830B (en) * | 2020-02-23 | 2023-04-25 | 陕西理工大学 | Three-closed-loop formation track tracking control method for wheeled mobile robot |
CN111208830A (en) * | 2020-02-23 | 2020-05-29 | 陕西理工大学 | Three-closed-loop formation track tracking control method for wheeled mobile robot |
CN111506114A (en) * | 2020-05-25 | 2020-08-07 | 北京理工大学 | Aircraft formation control method |
CN112083727A (en) * | 2020-09-06 | 2020-12-15 | 东南大学 | Multi-autonomous system distributed collision avoidance formation control method based on speed barrier |
CN112099506A (en) * | 2020-09-17 | 2020-12-18 | 北京航空航天大学 | Tracking control method and system for under-actuated unmanned ship time-varying formation |
CN112650231A (en) * | 2020-12-15 | 2021-04-13 | 哈尔滨工程大学 | Under-actuated ship formation control system for realizing collision and obstacle avoidance |
CN112947462A (en) * | 2021-03-02 | 2021-06-11 | 广东省智能机器人研究院 | Unmanned ship group formation cooperative control method considering time-varying drift angle and attitude adjustment |
CN113093739A (en) * | 2021-03-25 | 2021-07-09 | 大连海事大学 | Optimized controller for preventing collision of multiple unmanned boats in formation and structure and design method thereof |
CN113093739B (en) * | 2021-03-25 | 2023-12-15 | 大连海事大学 | Multi-unmanned-ship formation collision-prevention optimal controller, structure and design method thereof |
CN113268056A (en) * | 2021-04-07 | 2021-08-17 | 上海中船船舶设计技术国家工程研究中心有限公司 | Ship course formation control method based on Markov switching topological graph |
CN112987758A (en) * | 2021-04-29 | 2021-06-18 | 电子科技大学 | Multi-water-surface aircraft cooperative tracking formation control method |
CN114035566A (en) * | 2021-09-08 | 2022-02-11 | 哈尔滨工程大学 | Design method, system and device of finite-time anti-saturation controller of unmanned ship |
CN114355878A (en) * | 2021-11-26 | 2022-04-15 | 珠海云洲智能科技股份有限公司 | Unmanned ship and unmanned plane performance control method, device, system and storage medium |
CN117369267A (en) * | 2023-10-31 | 2024-01-09 | 东海实验室 | Method and system for controlling underwater helicopter surrounding formation under event triggering frame |
CN117369267B (en) * | 2023-10-31 | 2024-04-30 | 东海实验室 | Method and system for controlling underwater helicopter surrounding formation under event triggering frame |
Also Published As
Publication number | Publication date |
---|---|
CN110196599B (en) | 2020-08-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110196599A (en) | A kind of collision prevention with connect the unmanned boat distribution formation control method kept under constraint | |
CN104407619B (en) | Multiple no-manned plane under uncertain environment reaches multiple goal approachs simultaneously | |
CN109634307A (en) | A kind of compound Track In Track control method of UAV navigation | |
CN104133375B (en) | A kind of many AUV isochronous controller structure and method for designing | |
CN102591358B (en) | Multi-UAV (unmanned aerial vehicle) dynamic formation control method | |
CN109871032A (en) | A kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control | |
CN108594846A (en) | More AUV flight patterns optimal control methods under a kind of obstacle environment | |
CN108427414A (en) | A kind of horizontal surface self-adaption Trajectory Tracking Control method of Autonomous Underwater Vehicle | |
CN109324636A (en) | Formation control method is cooperateed with based on second order consistency and more quadrotor master-slave modes of active disturbance rejection | |
CN110262494B (en) | Collaborative learning and formation control method for isomorphic multi-unmanned ship system | |
CN110362095A (en) | A kind of design method of finite time convergence control unmanned boat collaborative controller | |
CN110320930A (en) | The reliable transform method of multiple no-manned plane flight pattern based on Voronoi diagram | |
Sun et al. | A formation collision avoidance system for unmanned surface vehicles with leader-follower structure | |
CN105589470A (en) | Multi-UAVs distributed formation control method | |
CN109240091A (en) | A kind of underwater robot control method based on intensified learning and its control method tracked | |
CN108663939A (en) | Consider the UUV level of constellation face path tracking control method of communication packet loss | |
CN110134018A (en) | A kind of underwater multi-foot robot system polypody cooperative control method | |
CN109857115A (en) | A kind of finite time formation control method of the mobile robot of view-based access control model feedback | |
CN109032137A (en) | More Euler-Lagrange system distributed tracking control methods | |
CN107703966A (en) | A kind of unmanned plane autonomous formation control method based on wild goose group self-organizing flight | |
CN113342015A (en) | Distributed sea area cross-medium heterogeneous system consistency formation method | |
CN115016277A (en) | Multi-ship distributed fault-tolerant control method considering inter-ship event trigger communication | |
Zhuang et al. | Motion control and collision avoidance algorithms for unmanned surface vehicle swarm in practical maritime environment | |
CN109739249A (en) | A kind of more UUV formation coordination control methods under speed state deletion condition | |
CN106842953B (en) | A kind of adaptive lower order controller of unmanned helicopter |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |