CN112286056A - Consistency control method for multi-neutral buoyancy robot - Google Patents

Consistency control method for multi-neutral buoyancy robot Download PDF

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CN112286056A
CN112286056A CN202011204444.9A CN202011204444A CN112286056A CN 112286056 A CN112286056 A CN 112286056A CN 202011204444 A CN202011204444 A CN 202011204444A CN 112286056 A CN112286056 A CN 112286056A
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robot
neutral buoyancy
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consistency
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CN112286056B (en
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袁源
王英杰
朱战霞
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Northwestern Polytechnical University
Shenzhen Institute of Northwestern Polytechnical University
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Shenzhen Institute of Northwestern Polytechnical University
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Abstract

The invention discloses a consistency control method for a multi-neutral buoyancy robot, provides a parameter adjusting method according to a linear matrix inequality, and belongs to the field of robot control; firstly, establishing a neutral buoyancy robot system model under an inertial coordinate system, and establishing an input item and an output item of the system; then establishing a multi-neutral buoyancy robot information interaction model into a directed topology model, and giving important assumptions of the interaction model; on the basis of the two, a distributed reduced order disturbance observer is designed to estimate a consistency error state and unknown disturbance in real time, and a parameter adjusting method of the disturbance observer is provided; finally, a feedback controller is designed according to the distributed reduced-order forced disturbance observer, and consistency and strong robustness of the multi-neutral buoyancy robot system are guaranteed. The invention combines the characteristics of the neutral buoyancy robot model, and the designed control strategy has good control performance and is suitable for engineering application.

Description

Consistency control method for multi-neutral buoyancy robot
Technical Field
The invention belongs to the field of robot control, and particularly relates to a consistency control method for a multi-neutral buoyancy robot.
Background
Due to deepening of space research and improvement of space application capability, research on microgravity environment simulation experiments for ground verification is receiving more and more extensive attention at home and abroad. In the research of microgravity environment simulation experiments, the application of a neutral buoyancy system to the simulation experiments in the microgravity environment is one of the important methods. In addition, as space operation tasks are complex and changeable, a single large-scale spacecraft cannot well complete the tasks, and therefore the problem that multiple neutral buoyancy robots simulate multiple spacecrafts to complete the operation tasks is urgently needed to be solved. The neutral buoyancy robot is a typical Lagrangian system, the coupling exists in the internal state, and because the viscous resistance in water is large, when a plurality of neutral buoyancy robots are designed to work cooperatively, the influence of external disturbance and internal uncertainty on the system must be considered. Meanwhile, the conditions of sudden failure of the sensor and the like can cause the wild value of the sensor, further cause system oscillation and even cause system instability, so that the designed distributed attitude control algorithm still can well realize the consistency control of the multi-neutral buoyancy robot under the condition that various uncertainties exist.
The robustness of the consistency control strategy for the multi-neutral buoyancy robot is poor at present, and the control accuracy has very important significance for improving the robustness of the system for the neutral buoyancy robot with strong coupling, strong nonlinearity and space external disturbance; meanwhile, the influence of the sensor outlier on the system is well considered by aiming at the consistency control strategy of the multi-neutral buoyancy robot at present, and in order to process the sensor outlier problem and improve the robustness of the system, a control method based on a distributed reduced-order forced disturbance observer is adopted.
For a traditional disturbance observer, the disturbance observer is usually designed for a single system, and in addition, the influence of a sensor field value on a multi-robot system is rarely considered, so that the disturbance observer has a limitation in engineering application.
Disclosure of Invention
The invention aims to provide a consistency control method for a multi-neutral buoyancy robot, which aims to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a consistency control method for a multi-neutral buoyancy robot comprises the following steps:
step 1, establishing a neutral buoyancy robot attitude kinematics and dynamics model under an inertial coordinate system;
step 2, establishing a multi-neutral buoyancy robot information interaction model;
step 3, constructing a distributed reduced order forced disturbance observer, providing a distributed reduced order forced disturbance observer and a saturation upper bound function parameter adjusting method, and adjusting parameters of the disturbance observer by solving a linear matrix inequality;
step 4, designing a distributed controller based on the reduced order forced disturbance observer, providing a parameter adjustment method of the distributed controller, and adjusting the parameters of the controller by solving a linear matrix inequality;
and 5, finishing a control strategy of consistency of the multi-neutral buoyancy robot.
Further, step 1 specifically includes:
the underwater six-degree-of-freedom robot dynamics and kinematics model comprises the following steps:
Figure BDA0002756580280000021
Figure BDA0002756580280000022
wherein M isRBRepresenting the body inertia matrix, CRBRepresenting the Kerio force matrix of the body, MAMRepresenting the water flow medium inertia matrix, C, associated with the bodyAMRepresenting the body-related Corio force matrix of the aqueous flow medium, Dr(vr(t)) v (t) is the viscous drag, g (η (t)) is the negative buoyancy; tau isc(t) represents a control torque; j (η (t)) represents a Jacobian matrix; eta (t), v (t) and vr(t)＝v(t)-vc(t) respectively representing the position and velocity of the body in a body coordinate system and the generalized velocity of the fluid in the body coordinate system, vc(t) as body coordinate system launchingThe velocity of the flow;
suppose that:
1. water velocity v in body coordinate systemcBeing slowly time-varying, i.e. vc(t)≈0；
2.vcThe velocity v relative to the underwater robot is a small quantity, and is approximately C (v (t)) v (t) approximately equal to C (v)r(t))vr(t)；
Equation (1) is simplified to the form:
Figure BDA0002756580280000023
Figure BDA00027565802800000311
wherein M is MRB+MAM，C＝CRB+CAM
Finally, the equation of motion under the inertial system is obtained:
Figure BDA0002756580280000031
in the formula (I), the compound is shown in the specification,
M*＝J-T(η(t))MJ-1(η(t))
Figure BDA0002756580280000032
D*(v(t),η(t))＝J-T(η(t))D(v(t))J-1(η(t))
g*(η(t))＝J-T(η(t))g(η(t))
wherein D*(v(t),η(t))v(t),g*And (η (t)) is an unknown term.
Further, step 2 specifically includes:
considering N +1 neutral buoyancy robots, regarding i-0 as a leader robot, and regarding i-1, 2.., N as follower robots; wherein, falseSetting leader System State η0,
Figure BDA0002756580280000033
Is bounded; neutral buoyancy robot information interaction model established as directed topology
Figure BDA0002756580280000034
Wherein
Figure BDA0002756580280000035
Representing a set of respective neutral buoyancy robots;
Figure BDA0002756580280000036
represents the set of all transmissions; the adjacency matrix of the follower is defined as
Figure BDA0002756580280000037
Wherein, when the l posture information of the follower neutral buoyancy robot is directly transmitted to the neutral buoyancy robot i, ail> 0, otherwise, ail0 and is adjoined by a matrix diagonal element aii＝0；NiRepresenting the set of all the received neighbor neutral buoyancy robots of the neutral buoyancy robot i; defining the Laplace matrix as L ═ Lil]∈RN×NWherein, when i ═ l,
Figure BDA00027565802800000312
when i ≠ L, Lil＝-ail(ii) a When the neutral buoyancy robot i can directly receive the posture information of the leader, bi> 0, otherwise, bi0; definition matrix
Figure BDA0002756580280000038
It is assumed that each follower neutrally buoyant robot can receive information directly or indirectly from the leader neutrally buoyant robot.
Further, step 3 specifically includes:
firstly, defining the consistency error of the local neighbor of the ith follower neutral buoyancy robot as
Figure BDA0002756580280000039
Wherein the content of the first and second substances,
Figure BDA00027565802800000310
leader follow consistency error;
considering the neutral buoyancy robot attitude kinematics and a second-order equation of a kinetic equation, constructing a reduced-order forced disturbance observer for estimating the system uncertainty and the environment external disturbance:
Figure BDA0002756580280000041
Figure BDA0002756580280000042
wherein, betai2,βi3For observer gain, ρ is a positive constant, zi2And zi3Is a reduced order observer state estimation, γi＝diag{σi1,…,σi6}，
Figure BDA0002756580280000043
σijIs the dynamic upper bound of the saturation function, obtained by the differential equation
Figure BDA0002756580280000044
Wherein the content of the first and second substances,
Figure BDA0002756580280000045
and j is 1,2,3,4,5, 6;
the parameters of the disturbance observer are adjusted by solving the following linear matrix inequality, so that the disturbance observer achieves a good estimation effect;
Figure BDA0002756580280000046
Figure BDA0002756580280000047
in the formula (I), the compound is shown in the specification,
Figure BDA0002756580280000048
denotes the kronecker product, INIs an N-dimensional identity matrix, Pi＝Si -1,RiIs a positive definite symmetric matrix, J is a diagonal matrix and satisfies J ═ T-1LT, wherein T-1Is a non-singular matrix, miIs that the positive definite constant satisfies Mi -1＜miI6，ciPositive definite constant satisfies
Figure BDA0002756580280000049
Figure BDA00027565802800000410
C＝[I6 0],bi＝diag{βi2,βi3},
Figure BDA00027565802800000411
Further, step 4 specifically includes:
the following states are defined first:
Figure BDA0002756580280000051
according to the transformed system state, the following distributed controllers are designed:
Figure BDA0002756580280000052
in the formula, ki1,ki2Is the gain of the controller and is,
Figure BDA0002756580280000053
it is unknown disturbance information observed by the disturbance observer that is used to compensate the uncertainty inside the system and the varying external disturbance in real time,
the distributed controller parameter adjusting method is given below, and the controller parameters are adjusted by solving the following linear matrix inequality, so that the multi-neutral buoyancy robot system obtains a good control effect;
Figure BDA0002756580280000054
wherein the content of the first and second substances,
Figure BDA0002756580280000055
is a positive definite symmetric matrix, BiAnd DiIs defined as follows
Bi＝[0,I6]T,
Figure BDA0002756580280000056
Wherein λ isiIs the ith eigenvalue of the matrix J.
Further, step 5 specifically includes:
finally obtaining the control moment tauiAnd (t) carrying out control in a neutral buoyancy robot system model (4) under an inertial coordinate system, respectively designing a distributed reduced order forced disturbance observer and a controller for the neutral buoyancy robot according to a control strategy, and controlling the neutral buoyancy robot so as to enable the multiple neutral buoyancy robots to achieve consistency.
Compared with the prior art, the invention has the following technical effects:
the invention provides a consistency control method of a multi-neutral buoyancy robot based on a distributed reduced order forced disturbance observer, which comprises the steps of designing the distributed reduced order forced disturbance observer aiming at a neutral buoyancy robot by establishing a neutral buoyancy robot system model under an inertial coordinate system, and providing parameters of the disturbance observer by solving a linear matrix inequality; the distributed controller is designed to control the neutral buoyancy robot, real-time compensation is carried out on uncertainty of the system, robustness of a control algorithm is strong, higher control precision and higher response speed can be obtained, and engineering implementation is facilitated.
The invention provides a distributed reduced order forced disturbance observer, obtains parameters of the distributed reduced order forced observer by solving a linear matrix inequality, simultaneously considers the condition that a sensor has a wild value, improves the robustness of a system and is convenient for engineering realization;
on the basis of a distributed reduced-order forced disturbance observer, a multi-robot consistency controller is designed, and when a consistency result is obtained, real-time compensation is performed on internal uncertainty and external disturbance of a system, so that more excellent control performance is obtained;
based on a distributed control strategy, the information interaction of the multi-neutral buoyancy robot under the directed topology is realized, the information transmission is reduced, and the application scene of the multi-neutral buoyancy robot is greatly expanded.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, a consistency control method for a multi-neutral buoyancy robot includes:
the first step is as follows: establishing neutral buoyancy robot attitude kinematics and dynamics model under inertial coordinate system
Consider the underwater six-degree-of-freedom robot dynamics and kinematics model of equations (1) - (2).
Figure BDA0002756580280000061
Figure BDA0002756580280000062
Wherein M isRBRepresenting the body inertia matrix, CRBRepresenting the Kerio force matrix of the body, MAMRepresenting the water flow medium inertia matrix, C, associated with the bodyAMRepresenting the body-related Corio force matrix of the aqueous flow medium, Dr(vr(t)) v (t) is the viscous drag, g (η (t)) is the negative buoyancy; tau isc(t) represents a control torque; j (η (t)) represents a Jacobian matrix; eta (t), v (t) and vr(t)＝v(t)-vc(t) respectively representing the position and velocity of the body in a body coordinate system and the generalized velocity of the fluid in the body coordinate system, vcAnd (t) is the speed of the water flow under the body coordinate system.
For ease of design, the following assumptions are generally made:
1. water velocity v in body coordinate systemcBeing slowly time-varying, i.e. vc(t)≈0；
2.vcThe velocity v relative to the underwater robot is a small quantity, and is approximately C (v (t)) v (t) approximately equal to C (v)r(t))vr(t)。
Equation (1) is simplified to the form:
Figure BDA0002756580280000063
Figure BDA0002756580280000071
wherein M is MRB+MAM，C(v(t))＝CRB+CAM
Finally, the equation of motion under the inertial system is obtained:
Figure BDA0002756580280000072
in the formula (I), the compound is shown in the specification,
M*＝J-T(η(t))MJ-1(η(t))
Figure BDA0002756580280000073
D*(v(t),η(t))＝J-T(η(t))D(v(t))J-1(η(t))
g*(η(t))＝J-T(η(t))g(η(t))
wherein D*(v(t),η(t))v(t),g*And (η (t)) is an unknown term.
The relevant parameters are defined as follows:
rB＝[xB,yB,zB]T＝[0,0,0]T，rG＝[xG,yG,zG]T＝[0,0,0.05]T，m＝125，
Figure BDA0002756580280000074
Figure BDA0002756580280000075
Figure BDA0002756580280000076
Figure BDA0002756580280000077
C＝CAM+CRB，
Figure BDA0002756580280000081
wherein x isB，yBAnd zBIs the floating center coordinate, xG，yGAnd zGRepresenting coordinates of the centroid, m representing mass, I0Is a matrix of moments of inertia, v1＝[μ υ ω]TAnd v2＝[p q r]TIs the velocity v: (t) translational and angular velocity components, CAMAnd CRBRespectively, the coriolis matrix and the coriolis matrix that the motion of the fluid being discharged has.
The second step is that: establishing multi-neutral buoyancy robot information interaction model
First we consider N +1 neutrally buoyant robots, we consider i 0 as the leader robot and i 1, 2. Wherein, for design convenience, we assume leader System State η0,
Figure BDA0002756580280000082
Is bounded. The information interaction model of the neutral buoyancy robot can be established into a directed topology
Figure BDA0002756580280000083
Wherein
Figure BDA0002756580280000084
Representing a collection of respective neutral buoyancy robots.
Figure BDA0002756580280000085
Representing the set of all transmissions. The adjacency matrix of the follower is defined as
Figure BDA0002756580280000086
Wherein, when the l posture information of the follower neutral buoyancy robot is directly transmitted to the neutral buoyancy robot i, ail> 0, otherwise, ail0 and is adjoined by a matrix diagonal element aii＝0。NiRepresenting the set of all receivable neighboring neutrally buoyant robots of neutrally buoyant robot i. We define the laplacian matrix as L ═ Lil]∈RN×NWherein, when i ═ l,
Figure BDA0002756580280000087
when i ≠ L, Lil＝-ail. When the neutral buoyancy robot i can directly receive the posture information of the leader, bi> 0, otherwise, bi0. We define a matrix
Figure BDA0002756580280000088
Here, we assume that each follower neutrally buoyant robot can receive information of the leader neutrally buoyant robot, either directly or indirectly.
In this example, consider 4 neutrally buoyant robots, one of which is the leader neutrally buoyant robot and the remaining 3 of which are the follower neutrally buoyant robots. The relevant topological parameters are given below
Figure BDA0002756580280000089
The third step: construction of distributed reduced-order forced disturbance observer
Firstly, defining the consistency error of the local neighbor of the ith follower neutral buoyancy robot as
Figure BDA0002756580280000091
Wherein the content of the first and second substances,
Figure BDA0002756580280000092
is the leader following consistency error.
Considering the neutral buoyancy robot attitude kinematics and a second-order equation of a kinetic equation, constructing a reduced-order forced disturbance observer for estimating the system uncertainty and the environment external disturbance:
Figure BDA0002756580280000093
Figure BDA0002756580280000094
wherein, betai2,βi3For observer gain, ρ is a positive constant, zi2And zi3Is a reduced order observer state estimation, γi＝diag{σi1,…,σi6}，
Figure BDA0002756580280000095
σijIs the dynamic upper bound of the saturation function, obtained by the differential equation
Figure BDA0002756580280000096
Wherein the content of the first and second substances,
Figure BDA0002756580280000097
and j is 1,2,3,4,5, 6.
The parameters of the disturbance observer can be adjusted by solving the following linear matrix inequality, so that the disturbance observer achieves a good estimation effect.
Figure BDA0002756580280000098
Figure BDA0002756580280000099
In the formula (I), the compound is shown in the specification,
Figure BDA00027565802800000910
denotes the kronecker product, INIs an N-dimensional identity matrix, Pi＝Si -1,RiIs a positive definite symmetric matrix, J is a diagonal matrix and satisfies J ═ T-1LT, wherein T-1Is a non-singular matrix, miIs that the positive definite constant satisfies Mi -1＜miI6，ciPositive definite constant satisfies
Figure BDA00027565802800000911
Figure BDA00027565802800000912
C＝[I6 0],bi＝diag{βi2,βi3},
Figure BDA00027565802800000913
In this example, ρ is 1.5, mi＝187.5,ci＝125，βi2,βi3The values of (A) are as follows:
βi2＝diag{500 500 1500 500 1500 1500},
βi3＝diag{100 100 200 100 200 200},
the fourth step: design distributed controller based on reduced order compulsory observer
Based on a reduced order observer, we design the following distributed controller.
The following states are defined first:
Figure BDA0002756580280000101
according to the transformed system state, the following distributed controllers are designed:
Figure BDA0002756580280000102
in the formula, ki1,ki2Is the gain of the controller and is,
Figure BDA0002756580280000103
it is unknown disturbance information observed by the disturbance observer that is used to compensate the uncertainty inside the system and the varying external disturbance in real time,
the distributed controller parameter adjusting method is given below, and the controller parameters can be adjusted by solving the following linear matrix inequality, so that the multi-neutral buoyancy robot system obtains a good control effect.
Figure BDA0002756580280000104
Wherein the content of the first and second substances,
Figure BDA0002756580280000105
is a positive definite symmetric matrix, BiAnd DiIs defined as follows
Bi＝[0,I6]T,
Figure BDA0002756580280000106
Wherein λ isiIs the ith eigenvalue of the matrix J.
In this example, the values of the adjustable parameters are:
ki1＝15,ki2＝15,λi＝1。
the fifth step: control strategy for achieving consistency of multi-neutral buoyancy robot
Finally obtaining the control moment tauiAnd (t) carrying out control in a neutral buoyancy robot system model (4) under an inertial coordinate system, respectively designing a distributed reduced order forced disturbance observer and a controller for the neutral buoyancy robot according to a control strategy, and controlling the neutral buoyancy robot so as to enable the multiple neutral buoyancy robots to achieve consistency.
The invention is not described in detail and is part of the common general knowledge of a person skilled in the art.

Claims (6)

1. A consistency control method for a multi-neutral buoyancy robot is characterized by comprising the following steps:
step 1, establishing a neutral buoyancy robot attitude kinematics and dynamics model under an inertial coordinate system;
step 2, establishing a multi-neutral buoyancy robot information interaction model;
step 3, constructing a distributed reduced order forced disturbance observer, providing a distributed reduced order forced disturbance observer and a saturation upper bound function parameter adjusting method, and adjusting parameters of the disturbance observer by solving a linear matrix inequality;
step 4, designing a distributed controller based on the reduced order forced disturbance observer, providing a parameter adjustment method of the distributed controller, and adjusting the parameters of the controller by solving a linear matrix inequality;
and 5, finishing a control strategy of consistency of the multi-neutral buoyancy robot.
2. The consistency control method of the multi-neutral-buoyancy robot according to claim 1, wherein the step 1 specifically comprises:
the underwater six-degree-of-freedom robot dynamics and kinematics model comprises the following steps:
Figure FDA0002756580270000011
Figure FDA0002756580270000012
wherein M isRBRepresenting the body inertia matrix, CRBRepresenting the Kerio force matrix of the body, MAMRepresenting the water flow medium inertia matrix, C, associated with the bodyAMRepresenting the body-related Corio force matrix of the aqueous flow medium, Dr(vr(t)) v (t) is the viscous drag, g (η (t)) is the negative buoyancy; tau isc(t) represents a control torque; j (η (t)) represents a Jacobian matrix; eta (t), v (t) and vr(t)＝v(t)-vc(t) respectively representing the position and velocity of the body in a body coordinate system and the generalized velocity of the fluid in the body coordinate system, vc(t) is the speed of the water flow in the body coordinate system;
suppose that:
1. water velocity v in body coordinate systemcBeing slowly time-varying, i.e. vc(t)≈0；
2.vcThe velocity v relative to the underwater robot is a small quantity, and is approximately C (v (t)) v (t) approximately equal to C (v)r(t))vr(t)；
Equation (1) is simplified to the form:
Figure FDA0002756580270000013
wherein M is MRB+MAM，C＝CRB+CAM
Finally, the equation of motion under the inertial system is obtained:
Figure FDA0002756580270000021
in the formula (I), the compound is shown in the specification,
M*＝J-T(η(t))MJ-1(η(t))
Figure FDA0002756580270000022
D*(v(t),η(t))＝J-T(η(t))D(v(t))J-1(η(t))
g*(η(t))＝J-T(η(t))g(η(t))
wherein D*(v(t),η(t))v(t),g*And (η (t)) is an unknown term.
3. The consistency control method of the multi-neutral-buoyancy robot according to claim 1, wherein the step 2 specifically comprises:
considering N +1 neutral buoyancy robots, regarding i-0 as a leader robot, and regarding i-1, 2.., N as follower robots; wherein leader system state η is assumed0,
Figure FDA0002756580270000023
Is bounded; neutral buoyancy robot information interaction model established as directed topology
Figure FDA0002756580270000024
Wherein
Figure FDA0002756580270000025
Representing a set of respective neutral buoyancy robots;
Figure FDA0002756580270000026
represents the set of all transmissions; the adjacency matrix of the follower is defined as
Figure FDA0002756580270000027
Wherein, when the l posture information of the follower neutral buoyancy robot is directly transmitted to the neutral buoyancy robot i, ail> 0, otherwise, ail0 and is adjoined by a matrix diagonal element aii＝0；NiRepresenting the set of all the received neighbor neutral buoyancy robots of the neutral buoyancy robot i; defining the Laplace matrix as L ═ Lil]∈RN×NWherein, when i ═ l,
Figure FDA0002756580270000028
when i ≠ L, Lil＝-ail(ii) a When the neutral buoyancy robot i can directly receive the posture information of the leader, bi> 0, otherwise, bi0; definition matrix
Figure FDA00027565802700000210
It is assumed that each follower neutrally buoyant robot can receive information directly or indirectly from the leader neutrally buoyant robot.
4. The consistency control method of the multi-neutral-buoyancy robot according to claim 1, wherein the step 3 specifically comprises:
firstly, defining the consistency error of the local neighbor of the ith follower neutral buoyancy robot as
Figure FDA0002756580270000029
Wherein the content of the first and second substances,
Figure FDA0002756580270000031
leader follow consistency error;
considering the neutral buoyancy robot attitude kinematics and a second-order equation of a kinetic equation, constructing a reduced-order forced disturbance observer for estimating the system uncertainty and the environment external disturbance:
Figure FDA0002756580270000032
Figure FDA0002756580270000033
wherein, betai2,βi3For observer gain, ρ is a positive constant, zi2And zi3Is a reduced order observer state estimation, γi＝diag{σi1,…,σi6}，
Figure FDA0002756580270000034
σijIs the dynamic upper bound of the saturation function, obtained by the differential equation
Figure FDA0002756580270000035
Wherein the content of the first and second substances,
Figure FDA0002756580270000036
and j is 1,2,3,4,5, 6;
the parameters of the disturbance observer are adjusted by solving the following linear matrix inequality, so that the disturbance observer achieves a good estimation effect;
Figure FDA0002756580270000037
Figure FDA0002756580270000038
in the formula (I), the compound is shown in the specification,
Figure FDA0002756580270000039
denotes the kronecker product, INIs an N-dimensional identity matrix, Pi＝Si -1,RiIs a positive definite symmetric matrix, J is a diagonal matrix and satisfies J ═ T-1LT, wherein T-1Is a non-singular matrix, miIs that the positive definite constant satisfies Mi -1＜miI6，ciPositive definite constant satisfies
Figure FDA00027565802700000310
Figure FDA00027565802700000311
C＝[I6 0],bi＝diag{βi2,βi3},
Figure FDA00027565802700000312
5. The consistency control method of the multi-neutral-buoyancy robot according to claim 1, wherein the step 4 specifically comprises:
the following states are defined first:
Figure FDA0002756580270000041
according to the transformed system state, the following distributed controllers are designed:
Figure FDA0002756580270000042
in the formula, ki1,ki2Is the gain of the controller and is,
Figure FDA0002756580270000043
it is unknown disturbance information observed by the disturbance observer that is used to compensate the uncertainty inside the system and the varying external disturbance in real time,
the distributed controller parameter adjusting method is given below, and the controller parameters are adjusted by solving the following linear matrix inequality, so that the multi-neutral buoyancy robot system obtains a good control effect;
Figure FDA0002756580270000044
wherein the content of the first and second substances,
Figure FDA0002756580270000045
is a positive definite symmetric matrix, BiAnd DiIs defined as follows
Figure FDA0002756580270000046
Wherein λ isiIs the ith eigenvalue of the matrix J.
6. The consistency control method of the multi-neutral-buoyancy robot according to claim 1, wherein the step 5 specifically comprises:
finally obtaining the control moment tauiAnd (t) carrying out control in a neutral buoyancy robot system model (4) under an inertial coordinate system, respectively designing a distributed reduced order forced disturbance observer and a controller for the neutral buoyancy robot according to a control strategy, and controlling the neutral buoyancy robot so as to enable the multiple neutral buoyancy robots to achieve consistency.
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