CN112666832B - Non-periodic communication underwater glider cooperative controller system and design method - Google Patents

Non-periodic communication underwater glider cooperative controller system and design method Download PDF

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CN112666832B
CN112666832B CN202011555801.6A CN202011555801A CN112666832B CN 112666832 B CN112666832 B CN 112666832B CN 202011555801 A CN202011555801 A CN 202011555801A CN 112666832 B CN112666832 B CN 112666832B
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王浩亮
柴亚星
王丹
彭周华
刘陆
王天霖
孙才勤
古楠
张义博
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Dalian Maritime University
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Abstract

The invention discloses an underwater glider cooperative controller structure and a design method thereof. According to the invention, a non-periodic communication mode is designed by constructing the preset trigger event function based on the self path parameter and the neighbor path parameter, and information interaction between underwater gliders is carried out only when the preset trigger condition is met, so that the communication burden can be obviously reduced, the energy consumption is reduced, and the actual requirement of long-time ocean observation is met. Aiming at the underwater glider cluster system under the condition of incomplete state information, uncertain model parameters and complex marine environment disturbance, the invention realizes that the dependence of controller design on multiple sensors can be effectively reduced under the conditions of less equipped sensors and low precision of the underwater glider, the cooperative tracking under the planned path is realized, and the actual requirement of marine observation is met.

Description

Non-periodic communication underwater glider cooperative controller system and design method
Technical Field
The invention relates to the field of control of underwater gliders, in particular to an underwater glider cooperative controller system with non-periodic communication and a design method.
Background
The ocean occupies 71 percent of the surface area of the earth, surrounds all lands on the earth, and occupies a part of four war spaces of air, sky, land and sea developed by human beings, wherein abundant mineral resources and biological resources are stored, and extremely abundant polymetallic nodules are deposited at the bottom of the ocean, so that the development of underwater robots and other related fields becomes a necessary trend. As a novel autonomous ocean observation platform, the underwater glider realizes gliding movement by means of buoyancy change and attitude adjustment, and has the advantages of low energy consumption, strong cruising ability, extremely low noise, suitability for repeated use, large amount of throwing and the like. Because the observation or detection function of a single underwater glider is relatively single, the operation range of unit time is very limited, and the underwater glider cooperatively operates in a cluster mode to become the inevitable development trend of the underwater glider.
In the last two decades, the world oceanic force nations have conducted a great deal of research and application testing work around the networking of underwater gliders in a coordinated manner, and have had many feasible solutions. However, the prior art still faces the following problems:
firstly, the underwater glider has the problems of unknown speed, unknown external interference, uncertain model and the like, so that the underwater glider cannot be well controlled in practical application;
secondly, the existing underwater glider control comprises an output feedback control method based on an observer, but high-frequency oscillation can be brought while the estimation of the fuzzy observer is carried out, so that the control precision is influenced;
third, the existing method for controlling the coordinated path tracking of the underwater glider requires continuous or periodic communication between the underwater gliders, which is difficult to realize in a practical network environment. Therefore, a communication mode of the aperiodic communication mechanism needs to be further considered, so as to save communication resources.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to solve the problem of non-periodic communication cooperative path tracking of the cluster underwater gliders under the condition of limited communication, and provides a non-periodic communication cooperative controller system of the underwater gliders and a design method thereof, so that the underwater gliders do not need continuous communication any more and only communicate when a trigger condition is met, and the communication frequency required by the cluster underwater glider cooperation is effectively reduced.
In order to achieve the purpose, the technical scheme of the invention is as follows: an underwater glider cooperative controller system comprises a communication network and a plurality of controller units, wherein the communication network is based on a non-periodic communication mechanism and is respectively connected with the controller units after passing through the non-periodic communication mechanism;
the controller unit comprises a cooperation module, a path tracking guidance module, a dynamics module, a fuzzy observer, a fuzzy controller based on low-frequency learning and a preset trigger event module; two input ends of the cooperation module are respectively connected with the output end of the path tracking guidance module and the output end of the communication network, and three output ends of the cooperation module are respectively connected with the input end of the path tracking guidance module, the input end of the communication network and the input end of the preset trigger event module; the path tracking guidance module has four input ends, wherein three input ends are respectively connected with the output end of the underwater glider, the output end of the fuzzy observer and the output end of the cooperation module, and the fourth input end is given path parameters; the other output end of the path tracking guidance module is respectively connected with the input end of the dynamics module and the input end of the fuzzy controller based on low-frequency learning; the other input end of the dynamics module is connected with the output end of the fuzzy controller based on low-frequency learning, and the two output ends of the dynamics module are respectively connected with the two input ends of the underwater glider and the two input ends of the low-frequency learning + controller; the other input end of the fuzzy controller based on low-frequency learning is connected with the output end of the fuzzy observer, and the output end of the fuzzy controller based on low-frequency learning is connected with the input end of the dynamics module; three input ends of the preset trigger event module are respectively connected with an output end before the cooperative module is not triggered, an output end after the cooperative module is triggered and an output end of the neighbor preset trigger event module, and the output end of the preset trigger event module is connected with the trigger switch;
the underwater glider comprises six degrees of freedom when moving underwater, and the motion equation of the underwater glider is a complex multivariable system which is nonlinear, under-actuated and strongly coupled. Therefore, in practical studies, the spatial motion of the underwater glider is decomposed into horizontal plane motion and vertical plane motion, and the coupling between the horizontal plane motion and the vertical plane motion is ignored, and the kinematic and dynamic model of the underwater glider in the vertical plane is represented by the following formula:
Figure GDA0003747493590000031
wherein:
Figure GDA0003747493590000032
Figure GDA0003747493590000033
in the formula, subscript i is the number of the underwater glider,
Figure GDA0003747493590000034
pose information, x, for an underwater glider i 、y i And theta i Respectively longitudinal position information, vertical position information and longitudinal rocking angle information of the underwater glider, wherein T represents the transposition of a matrix or a vector;
Figure GDA0003747493590000035
the velocity vectors of the underwater glider are respectively longitudinal velocity, vertical velocity and longitudinal rocking angular velocity;
Figure GDA0003747493590000036
unknown control gains of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction are respectively related to the quality of the underwater glider, and diag {. cndot } represents a diagonal matrix;
Figure GDA0003747493590000041
respectively representing the control input of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction;
Figure GDA0003747493590000042
is the uncertainty disturbance to the underwater glider, where f i (t,η i ,υ i )＝-C i (υ i )υ i -D i (υ i )υ i -g i (υ i ,η i )+τ id (t)，f iu (·)、f iw (·)、f iq (. is) i.e. f iu (t,u i ,w i ,θ i ,q i )、f iw (t,u i ,w i ,θ i ,q i )、f iq (t,u i ,w i ,θ i ,q i ) Representing the non-linear equations relating hydrodynamic damping effects in the longitudinal, vertical and pitch directions, respectively, C i Is a hydrodynamic and centripetal matrix of fluids, D i As a damping matrix, g i For unmodeled dynamics, τ id (t)＝[d iu ,d iw ,d iq ] T Respectively representing the external environment disturbance of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction; m i ＝diag{m iu m iw m iq The inertia matrixes of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction are respectively.
A design method of an underwater glider cooperative controller system with non-periodic communication comprises the following steps:
A. design of collaboration modules
The input signal of the cooperation module is the path parameter information of the neighbor of the ith underwater glider
Figure GDA0003747493590000043
And the longitudinal position error x of the ith underwater glider output by the path tracking guidance module ie Output signal ω of said synergy module i 、χ i (t) is designed as follows:
Figure GDA0003747493590000044
in the formula: mu.s i Is a normal number; chi shape i Is a path parameter; upsilon is s Is the path parameter χ i The path update speed of (2); omega i Is based on path parameters of an aperiodic communication mechanism;
Figure GDA0003747493590000045
is based on path parameter cooperation error of non-periodic communication mechanism, wherein a ij In order to gain in the consistency of the data,
Figure GDA0003747493590000046
is the trigger time, and satisfies
Figure GDA0003747493590000047
For the next time of the trigger, the trigger time,
Figure GDA0003747493590000048
based on the self-estimated path parameters for the underwater glider i,
Figure GDA0003747493590000049
estimating a path parameter for the underwater glider j based on the neighboring underwater glider i; and is
Figure GDA00037474935900000410
Wherein x' id (χ i )、z′ id (χ i ) Are each x id (χ i )、z id (χ i ) Partial derivatives of (d);
B. design of path tracking guidance module
The input signal to the path tracking guidance module is a given path signal p id (χ i ) Pose information eta of underwater glider i ＝[x i ,z i ,θ i ] T And an estimated state of velocity vector v
Figure GDA0003747493590000051
Wherein p is id (χ i )＝(x id (χ i ),z id (χ i ) Is X) E -Z E Given path signals under a coordinate system, the output signal is the longitudinal position error x of the underwater glider ie Desired forward speed u iu Desired pitching speed q iq And a desired pitch angle theta iθ ；
Figure GDA0003747493590000052
Wherein x is ie ，z ie ，θ ie Respectively a longitudinal position error, a vertical position error and a longitudinal angle error of the underwater glider;
Figure GDA0003747493590000053
respectively estimating errors of the speed in the longitudinal direction, the vertical direction and the pitching direction;
Figure GDA0003747493590000054
are each u i ，w i An estimated value of (d);
Figure GDA0003747493590000055
is a normal number;
Figure GDA0003747493590000056
Figure GDA0003747493590000057
to control the gain; alpha (alpha) ("alpha") i Is an angle of attack; phi is a i ＝sinθ ie cos(θ iθ -θ id -α i )+(cosθ ie -1)sin(θ iθ +θ id -α i )；
Figure GDA0003747493590000058
ε i Is a normal number;
Figure GDA0003747493590000059
and | l iε |≤ε i ；
C. Design of fuzzy observer
The input of the fuzzy observer is the pose information eta of the underwater glider i ＝[x i ,z i ,θ i ] T (ii) a The output is estimated speed information of the underwater glider
Figure GDA00037474935900000510
The velocity estimation equation is as follows:
Figure GDA00037474935900000511
wherein the content of the first and second substances,
Figure GDA00037474935900000512
are respectively x i ,z i ,θ i ,u i ,w i ,q i An estimated value of (d);
Figure GDA00037474935900000513
are respectively f iu (·)、f iw (·)、f iq An estimate of (·); and is
Figure GDA0003747493590000061
t d Is the sampling period, beta i (ζ i )＝[β iu (ζ iu ),β iw (ζ iw ),β iq (ζ iq )] T :
Figure GDA0003747493590000062
For the known function of continuous excitation, the excitation is,
Figure GDA0003747493590000063
namely the vector of the N-dimension,
Figure GDA0003747493590000064
i.e., a 3-dimensional vector;
Figure GDA0003747493590000065
for the purpose of the estimated weight factors,
Figure GDA0003747493590000066
i.e., an N × 3 dimensional matrix;
Figure GDA0003747493590000067
is M i The inverse matrix of (d);
Figure GDA0003747493590000068
is a control gain matrix;
Figure GDA0003747493590000069
to estimate the error;
D. design of fuzzy controller based on low frequency learning
The input signal of the fuzzy controller based on low-frequency learning is the expected value u of the underwater glider iu ，q iq ，θ iθ Estimated state of velocity vector v
Figure GDA00037474935900000610
And the output signal tau of the dynamics module iu ，τ iq (ii) a The output signal being an uncertainty observation
Figure GDA00037474935900000611
Error of estimated velocity from actual velocity
Figure GDA00037474935900000612
The designed fuzzy controller based on low-frequency learning is as follows:
Figure GDA00037474935900000613
wherein:
Figure GDA00037474935900000614
Figure GDA00037474935900000615
T i ＝diag{R T (θ i ),I 3 }
Figure GDA00037474935900000616
S T ＝diag{S T ，0 3 }
Figure GDA00037474935900000617
Figure GDA0003747493590000071
wherein, is E i Is an error, satisfies
Figure GDA0003747493590000072
Is a normal number;
Figure GDA0003747493590000073
ι i is a positive constant;
Figure GDA0003747493590000074
is composed of
Figure GDA0003747493590000075
The estimated weight after passing through a low-pass filter;
Figure GDA0003747493590000076
an estimation error that is a weight;
E. design of kinetic modules
The input signal to the dynamics module is the desired state u of the underwater glider iu ,q iq ,θ iθ Error of estimated speed and actual speed
Figure GDA0003747493590000077
And uncertainty observed value
Figure GDA0003747493590000078
The output signal is a control input signal tau of an underwater glider iu ,τ iq (ii) a Output signal tau of a kinetic module iu ,τ iq The design of (2) is as follows:
Figure GDA0003747493590000079
wherein:
k iu ,k iq is a constant that is positive and constant,
Figure GDA00037474935900000710
are all normal numbers, and function as treatment b iu 0 and b iq A singularity condition occurs when 0;
F. design of preset trigger event module
Presetting the input signal of a trigger event module as the current path parameter x of the ith underwater glider i (t) previous trigger time
Figure GDA00037474935900000711
Path parameter of last trigger time
Figure GDA00037474935900000712
And the derivative of the path parameter at the time of the last trigger
Figure GDA00037474935900000713
Path parameter of last triggering moment of neighbor underwater glider j
Figure GDA00037474935900000714
And the derivative of the path parameter at the time of the last trigger
Figure GDA00037474935900000715
The parameter cooperation error based on the aperiodic communication mechanism is as follows:
Figure GDA00037474935900000716
wherein:
Figure GDA00037474935900000717
Figure GDA00037474935900000718
Figure GDA0003747493590000081
the path parameter collaborative error is based on the information of the neighbor underwater glider; the output signal of the trigger event module is preset to be ET, and when the preset ET condition is met, the information packet is sent
Figure GDA0003747493590000082
The trigger condition ET is designed as follows:
Figure GDA0003747493590000083
wherein k is iξ Is a normal number, and 0 < k iξ < 1, next trigger time
Figure GDA0003747493590000084
Wherein
Figure GDA0003747493590000085
Compared with the prior art, the invention has the following beneficial effects:
firstly, compared with the existing underwater glider cluster cooperative controller adopting periodic communication, the invention designs an aperiodic communication mode by constructing a preset trigger event function based on own path parameters and neighbor path parameters, and carries out information interaction between the underwater gliders when preset trigger conditions are met, thereby remarkably lightening the communication burden, reducing the energy consumption and meeting the actual requirements of long-time marine observation.
Secondly, compared with the existing underwater glider cluster cooperative controller of which the state information needs to be known, the invention designs an output feedback cooperative path tracking control method without speed measurement by adopting the pose information of the underwater glider, and aiming at an underwater glider cluster system under the conditions of incomplete state information, uncertain model parameters and complex ocean environment disturbance, the dependence of the design of the controller on multiple sensors can be effectively reduced under the conditions of less sensors and low precision of the underwater glider, the cooperative tracking under the planned path is realized, and the actual requirements of ocean observation are met.
Thirdly, compared with the existing output feedback control based on the observer, the method of adding the low-frequency filter into the fuzzy observer is adopted, the fuzzy observer combined with the low-frequency learning method is designed to avoid the generated high-frequency oscillation, the estimated speed information of the underwater glider can be obtained, and the high-frequency oscillation signal which causes the reduction of the control precision can be filtered out, so that the unified estimation of the unmeasured speed, the internal modeling uncertainty and the external disturbance is realized.
Drawings
FIG. 1 is a schematic diagram of an underwater glider cooperative controller system with non-periodic communication.
Fig. 2 is a schematic diagram of a 3 underwater glider communication network system.
Fig. 3 is a schematic diagram of coordinate conversion of an underwater glider.
Fig. 4 is a schematic diagram of the coordinated motion trajectory of 3 underwater gliders.
FIG. 5 is a graph of the lateral position error of 3 underwater gliders.
FIG. 6 is a graph of the longitudinal position error of 3 underwater gliders.
Fig. 7 is a diagram of the effect of non-periodic communication of 3 underwater gliders.
FIG. 8 is a graph of the estimated performance of lateral disturbances for 3 underwater gliders.
FIG. 9 is a graph of the estimated performance of the longitudinal disturbances of 3 underwater gliders.
Detailed Description
The present invention will be further described with reference to the accompanying drawings in which a particular three underwater gliders are cooperatively controlled. The invention discloses an aperiodic communication underwater glider cooperative controller system which is shown in figure 1, a communication network structure for cooperative control of three underwater gliders is shown in figure 2, path parameter information of the No. 1 underwater glider is transmitted to the No. 2 underwater glider, path parameter information of the No. 2 underwater glider is transmitted to the No. 3 underwater glider, and meanwhile, parameter information of the No. 3 underwater glider is transmitted back to the No. 2 underwater glider, namely, the No. 2 underwater glider is adjusted in real time through the No. 1 and the No. 3 neighbors.
The control objective for this embodiment is that three underwater gliders can track a parameterized path (x) id (χ i ),y id (χ i ) And maintain coordinated path tracking while reducing communication frequency and reducing power consumption.
The specific parameters of the model designed by the invention are as follows:
the initial states of the three underwater gliders are:
(x 1 ,y 1 ,z 1 ,θ 1 )＝(0,0,0,0)
(x 2 ,y 2 ,z 2 ,θ 2 )＝(10,-16,-5,0)
(x 3 ,y 3 ,z 3 ,θ 3 )＝(20,16,-10,0)
the three parameterized paths respectively tracked by the underwater glider are designed as follows:
Figure GDA0003747493590000101
the control parameters were chosen as follows:
K i1 ＝diag{90,90,90}，K i2 ＝{2700,2700,2700}，Γ i ＝diag{9000,9000,9000}，
Γ if ＝diag{9000,9000,9000}，
Figure GDA0003747493590000102
ι i ＝{0.0001,0.0001,0.0001}，
k ix ＝0.2，k iθ ＝0.2，k iu ＝4，k iq ＝2，
Figure GDA0003747493590000103
v s ＝0.1,μ i ＝0.04,k iξ ＝0.06
the simulation results are shown in fig. 4-9. Fig. 4 shows the cooperative motion trajectories of 3 underwater gliders on the vertical plane based on the output feedback control method, the solid line in the graph is the expected path, the dotted line is the motion trajectory of 3 underwater gliders, and it is obvious from the graph that even if the underwater gliders are disturbed by external disturbance, the underwater gliders can still well track the three expected paths. The tracking error x is given in fig. 5 and 6, respectively ie And z ie It can be seen that the tracking errors eventually converge to zero. Figure 7 shows the events triggered during three periods of motion of the underwater glider, the numbers 1 and 0 on the ordinate represent the communication strategy based on aperiodic communication and the communication strategy based on time triggering, respectively, it can be seen that the communication strategy based on aperiodic communication is aperiodic and that the events triggered will be more frequent when necessary communication is required and vice versa, and therefore when necessary communication is requiredThe communication frequency is relatively high at the beginning of the coordinated movement. Fig. 8 and 9 show the capability of estimating uncertainty in the longitudinal direction and the pitch direction, respectively, and it can be seen that the fuzzy observer can effectively estimate the model uncertainty and the dynamics of the external disturbance system.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.

Claims (2)

1. An underwater glider cooperative controller system, characterized in that: the communication network is based on a non-periodic communication mechanism and is respectively connected with the plurality of controller units after passing through the non-periodic communication mechanism;
the controller unit comprises a coordination module, a path tracking guidance module, a dynamics module, a fuzzy observer, a fuzzy controller based on low-frequency learning and a preset trigger event module; two input ends of the cooperation module are respectively connected with the output end of the path tracking guidance module and the output end of the communication network, and three output ends of the cooperation module are respectively connected with the input end of the path tracking guidance module, the input end of the communication network and the input end of the preset trigger event module; the path tracking guidance module has four input ends, wherein three input ends are respectively connected with the output end of the underwater glider, the output end of the fuzzy observer and the output end of the cooperation module, and the fourth input end is given path parameters; the other output end of the path tracking guidance module is respectively connected with the input end of the dynamics module and the input end of the fuzzy controller based on low-frequency learning; the other input end of the dynamics module is connected with the output end of the fuzzy controller based on low-frequency learning, and the two output ends of the dynamics module are respectively connected with the two input ends of the underwater glider and the two input ends of the low-frequency learning + controller; the other input end of the fuzzy controller based on low-frequency learning is connected with the output end of the fuzzy observer, and the output end of the fuzzy controller based on low-frequency learning is connected with the input end of the dynamics module; three input ends of the preset trigger event module are respectively connected with the output end of the synergy module before triggering, the output end of the synergy module after triggering and the output end of the neighbor preset trigger event module, and the output end of the preset trigger event module is connected with the trigger switch;
the underwater glider comprises six degrees of freedom when moving underwater, and the motion equation of the underwater glider is a complex multivariable system which is nonlinear, under-actuated and strongly coupled; in practical studies, the spatial motion of the underwater glider is decomposed into horizontal plane motion and vertical plane motion, and the coupling between the horizontal plane motion and the vertical plane motion is ignored, and the kinematic and dynamic model of the underwater glider in the vertical plane is represented by the following formula:
Figure FDA0003747493580000021
wherein:
Figure FDA0003747493580000022
Figure FDA0003747493580000023
in the formula, subscript i is the number of the underwater glider,
Figure FDA0003747493580000024
pose information, x, for an underwater glider i 、y i And theta i Respectively longitudinal position information, vertical position information and longitudinal rocking angle information of the underwater glider, wherein T represents the transposition of a matrix or a vector;
Figure FDA0003747493580000025
the velocity vectors of the underwater glider are respectively longitudinal velocity, vertical velocity and longitudinal rocking angular velocity;
Figure FDA0003747493580000026
unknown control gains of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction are respectively related to the quality of the underwater glider, and diag {. cndot } represents a diagonal matrix;
Figure FDA0003747493580000027
respectively representing the control input of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction;
Figure FDA0003747493580000028
is the uncertainty disturbance to the underwater glider, where f i (t,η i ,υ i )＝-C i (υ i )υ i -D i (υ i )υ i -g i (υ i ,η i )+τ id (t)，f iu (·)、f iw (·)、f iq (. is) i.e. f iu (t,u i ,w i ,θ i ,q i )、f iw (t,u i ,w i ,θ i ,q i )、f iq (t,u i ,w i ,θ i ,q i ) Representing the non-linear equations relating hydrodynamic damping effects in the longitudinal, vertical and pitch directions, respectively, C i Is a hydrodynamic and centripetal matrix of fluids, D i As a damping matrix, g i For unmodeled dynamics, τ id (t)＝[d iu ,d iw ,d iq ] T Respectively representing the external environment disturbance of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction; m i ＝diag{m iu m iw m iq The inertia matrixes of the underwater glider in the longitudinal direction, the vertical direction and the pitching direction are respectively.
2. A design method of an underwater glider cooperative controller system with non-periodic communication is characterized in that: the method comprises the following steps:
A. design of collaboration modules
The input signal of the cooperative module is the path of the neighbor of the ith underwater gliderDiameter parameter information
Figure FDA0003747493580000031
And the longitudinal position error x of the ith underwater glider output by the path tracking guidance module ie Output signal ω of said synergy module i 、χ i (t) is designed as follows:
Figure FDA0003747493580000032
in the formula: mu.s i Is a normal number; chi shape i Is a path parameter; upsilon is s Is the path parameter χ i The path update speed of (1); omega i Is based on the path parameter of the non-periodic communication mechanism;
Figure FDA0003747493580000033
is based on the path parameter cooperation error of the non-periodic communication mechanism, wherein a ij In order to gain in the consistency of the data,
Figure FDA0003747493580000034
is the trigger time and satisfies k ∈ Z ≥0 ，
Figure FDA0003747493580000035
For the next time of the trigger, the trigger time,
Figure FDA0003747493580000036
based on the self-estimated path parameters for the underwater glider i,
Figure FDA0003747493580000037
estimating a path parameter for the underwater glider j based on the neighboring underwater glider i; and is
Figure FDA0003747493580000038
Wherein x' id (χ i )、z′ id (χ i ) Are respectively x id (χ i )、z id (χ i ) Partial derivatives of (d);
B. design of path tracking guidance module
The input signal to the path tracking guidance module is a given path signal p id (χ i ) Pose information eta of underwater glider i ＝[x i ,z i ,θ i ] T And an estimated state of velocity vector v
Figure FDA0003747493580000039
Wherein p is id (χ i )＝(x id (χ i ),z id (χ i ) Is X) E -Z E Given path signals under a coordinate system, the output signal is the longitudinal position error x of the underwater glider ie Desired forward speed u iu Desired pitch velocity q iq And a desired pitch angle theta iθ ；
Figure FDA0003747493580000041
Wherein x is ie ，z ie ，θ ie Respectively a longitudinal position error, a vertical position error and a longitudinal angle error of the underwater glider;
Figure FDA0003747493580000042
Figure FDA0003747493580000043
respectively estimating errors of the longitudinal direction, the vertical direction and the pitching direction;
Figure FDA0003747493580000044
are each u i ，w i An estimated value of (d);
Figure FDA0003747493580000045
is a normal number;
Figure FDA0003747493580000046
Figure FDA0003747493580000047
to control the gain; alpha (alpha) ("alpha") i Is an angle of attack; phi is a i ＝sinθ ie cos(θ iθ -θ id -α i )+(cosθ ie -1)sin(θ iθ +θ id -α i )；
Figure FDA0003747493580000048
ε i Is a normal number;
Figure FDA0003747493580000049
and | l iε |≤ε i ；
C. Design of fuzzy observer
The input of the fuzzy observer is the pose information eta of the underwater glider i ＝[x i ,z i ,θ i ] T (ii) a The output is the estimated speed information of the underwater glider
Figure FDA00037474935800000410
The velocity estimation equation is as follows:
Figure FDA00037474935800000411
wherein the content of the first and second substances,
Figure FDA00037474935800000412
Figure FDA00037474935800000413
are respectively x i ,z i ,θ i ,u i ,w i ,q i An estimated value of (d);
Figure FDA00037474935800000414
are respectively f iu (·)、f iw (·)、f iq An estimate of (·); and is
Figure FDA00037474935800000415
t d Is the period of the sampling, and,
Figure FDA00037474935800000416
for the known function of continuous excitation, the excitation is,
Figure FDA00037474935800000417
namely the vector of the N-dimension,
Figure FDA00037474935800000418
i.e., a 3-dimensional vector;
Figure FDA00037474935800000419
for the purpose of the estimated weight factors,
Figure FDA00037474935800000420
i.e., an N × 3 dimensional matrix;
Figure FDA0003747493580000051
is M i The inverse matrix of (d);
Figure FDA0003747493580000052
is a control gain matrix;
Figure FDA0003747493580000053
to estimate the error;
D. design of fuzzy controller based on low frequency learning
The input signal of the fuzzy controller based on low-frequency learning is the expected value u of the underwater glider iu ，q iq ，θ iθ Estimated state of velocity vector v
Figure FDA0003747493580000054
And the output signal tau of the dynamics module iu ，τ iq (ii) a The output signal being an uncertainty observation
Figure FDA0003747493580000055
Error of estimated speed from actual speed
Figure FDA0003747493580000056
The designed fuzzy controller based on low-frequency learning is as follows:
Figure FDA0003747493580000057
wherein:
Figure FDA0003747493580000058
Figure FDA0003747493580000059
T i ＝diag{R T (θ i ),I 3 }
Figure FDA00037474935800000510
S T ＝diag{S T ，0 3 }
Figure FDA00037474935800000511
Figure FDA00037474935800000512
wherein is e i Is an error, satisfies
Figure FDA00037474935800000513
Figure FDA00037474935800000514
Is a normal number;
Figure FDA00037474935800000515
ι i is a positive constant;
Figure FDA00037474935800000516
is composed of
Figure FDA00037474935800000517
The estimated weight after passing through a low-pass filter;
Figure FDA00037474935800000518
an estimation error that is a weight;
E. design of kinetic modules
The input signal to the dynamics module is the desired state u of the underwater glider iu ,q iq ,θ iθ Error of estimated speed and actual speed
Figure FDA0003747493580000061
And uncertainty observation
Figure FDA0003747493580000062
The output signal is a control input signal tau of an underwater glider iu ,τ iq (ii) a Output signal tau of a dynamics module iu ,τ iq The design of (2) is as follows:
Figure FDA0003747493580000063
wherein:
k iu ,k iq is a constant that is positive for a given value,
Figure FDA0003747493580000064
are all normal numbers, and function as treatment b iu 0 and b iq A singularity case when 0;
F. design of preset trigger event module
Presetting the input signal of a trigger event module as the current path parameter chi of the ith underwater glider i (t), last trigger time
Figure FDA0003747493580000065
Path parameter of last trigger time
Figure FDA0003747493580000066
And the derivative of the path parameter at the time of the last trigger
Figure FDA0003747493580000067
Path parameter of last triggering moment of neighbor underwater glider j
Figure FDA0003747493580000068
And the derivative of the path parameter at the time of the last trigger
Figure FDA0003747493580000069
The parameter cooperation error based on the aperiodic communication mechanism is as follows:
Figure FDA00037474935800000610
wherein:
Figure FDA00037474935800000611
Figure FDA00037474935800000612
Figure FDA00037474935800000613
the path parameter collaborative error is based on the information of the neighbor underwater glider; the output signal of the trigger event module is preset to be ET, and when the preset ET condition is met, the information packet is sent
Figure FDA00037474935800000614
The trigger condition ET is designed as follows:
Figure FDA0003747493580000071
wherein k is iξ Is a normal number, and 0 < k iξ < 1, next trigger time
Figure FDA0003747493580000072
Wherein
Figure FDA0003747493580000073
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