CN113419426A - AUV communication delay active compensation method based on data driving state predictor - Google Patents

AUV communication delay active compensation method based on data driving state predictor Download PDF

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CN113419426A
CN113419426A CN202110790129.7A CN202110790129A CN113419426A CN 113419426 A CN113419426 A CN 113419426A CN 202110790129 A CN202110790129 A CN 202110790129A CN 113419426 A CN113419426 A CN 113419426A
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杜佳璐
李健
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Dalian Maritime University
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Abstract

The invention discloses a multi-AUV communication delay active compensation method based on a data-driven predictor, which comprises the following steps of: establishing an autoregressive model; determining the undetermined order number of the autoregressive model; designing an online updating law of the parameter vectors; designing a data driving state predictor of a jth AUV; and active compensation of communication delay is realized. The method can realize the active compensation of the AUV communication delay by designing the state predictor to predict the current actual motion state of the neighboring AUV in real time on line and applying the predicted value to the design of the formation control law. The active compensation method for communication delay among multiple AUVs, provided by the invention, has no limitation on the design method of AUV formation control law, and can be flexibly applied to various advanced formation control theory methods. The active compensation method for communication delay among multiple AUVs, provided by the invention, is data-driven and independent of an AUV motion mathematical model, so that the prior knowledge of parameters and structure of the AUV motion mathematical model is not required.

Description

AUV communication delay active compensation method based on data driving state predictor
Technical Field
The invention relates to the field of Underwater robots, in particular to a multi-Autonomous Underwater robot (AUV) communication delay active compensation method based on a data-driven state predictor.
Background
AUV plays an important role in civil and military fields such as ocean resource development and utilization, submarine topography mapping, offshore defense and military reconnaissance. For some complex marine operation tasks, such as large-scale submarine landform survey, underwater multi-target striking and the like, a single AUV is difficult to meet the operation requirements due to the limits in the aspects of carrying load, range, speed and the like, multiple AUVs are applied to carry different devices, and a formation motion control mechanism is established, so that the multiple AUVs are cooperatively used, and the tasks can be completed with higher efficiency and high quality. AUV information interaction is the premise of AUV formation, underwater AUV generally depends on underwater acoustic communication for information transmission, communication delay exists between AUVs due to low propagation speed of the underwater acoustic communication, and if the problem of communication delay is not processed in AUV formation control, the AUV formation control precision is reduced, and even AUV formation cannot be realized. Therefore, the method for researching the communication delay in the AUV formation control has important practical significance, and can provide guarantee for the multi-AUV cooperative marine operation.
The distributed underwater vehicle fleet control with communication constraint is published in the university of science and technology book of Huazhong, Yanbo et al of Huazhong science and technology in 2009, 2, an AUV nonlinear motion mathematical model is linearized by applying a feedback linearization method, an AUV fleet control law under communication delay is designed by combining a consistency algorithm, and a range of AUV fleet control law design parameters for stabilizing an AUV fleet closed-loop control system under communication delay is given based on a Lyapunov-Krosovski function and a linear matrix inequality, so that AUV fleet control under communication delay is realized. A paper entitled "formation control of under-actuated autonomous underwater vehicle under communication delay" is published by Yan Wei et al, northwest industrial university in firepower command control 2011 at 6 th, the problem of multi-AUV formation is converted into the problem of path tracking of each AUV, a multi-AUV synchronous control law based on path parameters considering communication delay is designed by applying a consistency algorithm, and a design parameter range enabling the multi-AUV synchronous control law is given based on a distributed consistency algorithm stability theory, so that formation of multiple AUVs under communication delay is realized. However, in the above document, the designed AUV formation control law only provides sufficient conditions for implementing AUV formation under communication delay through theoretical analysis, and all uses the motion state information of AUV delay, without dealing with the problem of communication delay, and only adapts to the situation of communication delay; in addition, due to the application of a consistency algorithm, the structure of the AUV formation control law is fixed, and the AUV formation control law cannot be further combined with other advanced control theory methods to improve the control effect.
The Chinese invention patent CN108594845A discloses a multi-AUV formation method based on prediction control under communication limitation, which firstly designs an AUV cooperative path tracking control law based on a backward-pushing method, and then introduces a cooperative tracking error prediction module to process the influence of AUV communication delay. However, this patent requires that the AUV motion mathematical model parameters be accurately known.
Disclosure of Invention
In order to solve the problems in the prior art, the invention designs a multi-AUV communication delay active compensation method based on a data-driven state predictor, which fundamentally solves the problem of communication delay among multiple AUVs under the condition that the parameters of an AUV motion mathematical model are unknown, thereby realizing AUV formation control under the condition that communication delay exists.
In order to achieve the purpose, the technical scheme of the invention is as follows: a multi-AUV communication delay active compensation method based on a data drive predictor is disclosed, wherein the multi-AUV comprises N AUVs, and the current actual motion state of the jth AUV is defined as Xj(t); said communication delay is denoted TijAt the current moment, the delayed motion state of a certain neighbor AUV (AUV) received by the ith AUV, namely the jth AUV, is Xj(t-Tij) 1,2, …, N, j 1,2, …, N; the active compensation method comprises the following steps:
A. establishing Xj(t-Tij) Is a model of autoregressive
Establishing Xj(t-Tij) The autoregressive model of (c) is as follows:
Figure BDA0003160760460000021
in the formula, λijThe undetermined order of the autoregressive model;
Figure BDA0003160760460000031
λ representing jth AUVijA historical motion state vector for which there is a delay,
Figure BDA0003160760460000032
is λijDimension unknown parameter vector, εij(t) represents a modeling error.
B. Determining undetermined order number lambda of autoregressive modelijValue of (A)
Determining λ according to Akaike information content criterionijThe value of (c):
first, is Xj(t-Tij) The autoregressive model (1) of (A) defines Akaike information content criterion function AIC (lambda)ij) The following were used:
Figure BDA0003160760460000033
Figure BDA0003160760460000034
wherein ln (·) represents a natural logarithm,
Figure BDA0003160760460000035
the variance of the modeling error is represented as,
Figure BDA0003160760460000036
is composed of
Figure BDA0003160760460000037
M 1,2, λijN is a positive integer; assuming that the maximum order of the autoregressive model (1) is
Figure BDA0003160760460000038
Calculate in turn
Figure BDA0003160760460000039
Determining the order of the autoregressive model (1) as
Figure BDA00031607604600000310
C. Design parameter vector
Figure BDA00031607604600000311
On-line update law of
Design parameter vector
Figure BDA00031607604600000312
The online update law of (1) is as follows:
Figure BDA00031607604600000313
Figure BDA00031607604600000314
in the formula (I), the compound is shown in the specification,
Figure BDA00031607604600000315
is composed of
Figure BDA00031607604600000316
Estimated value of (P)ijIs λij×λijThe aided design matrix of the dimension(s),
Figure BDA00031607604600000317
and
Figure BDA00031607604600000318
are respectively as
Figure BDA00031607604600000319
And PijDerivative of (a), k1,ijAnd k2,ijIs a positive design constant.
D. Design the data driving state predictor of the jth AUV
Designing a data driving state predictor of the jth AUV as follows:
Figure BDA0003160760460000041
Figure BDA0003160760460000042
in the formula (I), the compound is shown in the specification,
Figure BDA0003160760460000043
and
Figure BDA0003160760460000044
respectively represent
Figure BDA0003160760460000045
And
Figure BDA0003160760460000046
an estimate of (2). When l isij＝λijThen, the ith AUV obtains the current actual motion state X of the jth AUV adjacent to the ith AUVj(t) estimated value
Figure BDA0003160760460000047
E. Active compensation for communication delay
In the formation control law design of the ith AUV, the current actual motion state X of the jth AUV adjacent to the ith AUV obtained on the basis of a state predictor (7) is appliedj(t) estimated value
Figure BDA0003160760460000048
And active compensation of communication delay is realized.
Compared with the prior art, the invention has the following beneficial effects:
1. the method can realize the active compensation of the AUV communication delay by designing the state predictor to predict the current actual motion state of the neighboring AUV in real time on line and applying the predicted value to the design of the formation control law.
2. The active compensation method for communication delay among multiple AUVs, provided by the invention, has no limitation on the design method of AUV formation control law, and can be flexibly applied to various advanced formation control theory methods.
3. The active compensation method for communication delay among multiple AUVs, provided by the invention, is data-driven and independent of an AUV motion mathematical model, so that the prior knowledge of parameters and structure of the AUV motion mathematical model is not required.
Drawings
Fig. 1 is a schematic diagram of an active compensation method for multi-AUV communication delay based on a data-driven state predictor.
Detailed Description
The invention is further described below with reference to the accompanying drawings. As shown in fig. 1, a principle of an active compensation method for multiple AUV communication delays based on a data-driven state predictor is as follows: motion state X with time delay by using jth AUVj(t-Tij) And λijHistorical motion state vector X with time delayj,past(t-Tij(t)), establishing Xj(t-Tij) And designing the parameter vector of the autoregressive model
Figure BDA0003160760460000051
An online update law of; based on the above, an AUV data driving state predictor is designed to give the current actual motion state X of the jth AUVj(t) estimated value
Figure BDA0003160760460000052
Will be provided with
Figure BDA0003160760460000053
The method is applied to the design of the formation control law of the ith AUV, so that the active compensation of communication delay existing among multiple AUVs is realized.
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 (1)

1. Multi-AUV communication delay active compensation method based on data drive predictor, and computer thereofThe multiple AUVs include N AUVs, and the current actual motion state of the jth AUV is defined as Xj(t); said communication delay is denoted TijAt the current moment, the delayed motion state of a certain neighbor AUV (AUV) received by the ith AUV, namely the jth AUV, is Xj(t-Tij)，i＝1,2,…,N，j＝1,2,…,N；
The method is characterized in that: the active compensation method comprises the following steps:
A. establishing Xj(t-Tij) Is a model of autoregressive
Establishing Xj(t-Tij) The autoregressive model of (c) is as follows:
Figure FDA0003160760450000011
in the formula, λijThe undetermined order of the autoregressive model;
Figure FDA0003160760450000012
λ representing jth AUVijA historical motion state vector for which there is a delay,
Figure FDA0003160760450000013
is λijDimension unknown parameter vector, εij(t) represents a modeling error;
B. determining undetermined order number lambda of autoregressive modelijValue of (A)
Determining λ according to Akaike information content criterionijThe value of (c):
first, is Xj(t-Tij) The autoregressive model (1) of (A) defines Akaike information content criterion function AIC (lambda)ij) The following were used:
Figure FDA0003160760450000014
Figure FDA0003160760450000015
wherein ln (·) represents a natural logarithm,
Figure FDA0003160760450000016
the variance of the modeling error is represented as,
Figure FDA0003160760450000017
is composed of
Figure FDA0003160760450000018
M 1,2, λijN is a positive integer; assuming that the maximum order of the autoregressive model (1) is
Figure FDA0003160760450000019
Figure FDA00031607604500000110
Calculate in turn
Figure FDA0003160760450000021
Determining the order of the autoregressive model (1) as
Figure FDA0003160760450000022
C. Design parameter vector
Figure FDA0003160760450000023
On-line update law of
Design parameter vector
Figure FDA0003160760450000024
The online update law of (1) is as follows:
Figure FDA0003160760450000025
Figure FDA0003160760450000026
in the formula (I), the compound is shown in the specification,
Figure FDA0003160760450000027
is composed of
Figure FDA0003160760450000028
Estimated value of (P)ijIs λij×λijThe aided design matrix of the dimension(s),
Figure FDA0003160760450000029
and
Figure FDA00031607604500000210
are respectively as
Figure FDA00031607604500000211
And PijDerivative of (a), k1,ijAnd k2,ijA design constant that is positive;
D. design the data driving state predictor of the jth AUV
Designing a data driving state predictor of the jth AUV as follows:
Figure FDA00031607604500000212
Figure FDA00031607604500000213
in the formula (I), the compound is shown in the specification,
Figure FDA00031607604500000214
and
Figure FDA00031607604500000215
respectively represent
Figure FDA00031607604500000216
And
Figure FDA00031607604500000217
a predicted value of (2); when l isij＝λijThen, the ith AUV obtains the current actual motion state X of the jth AUV adjacent to the ith AUVj(t) estimated value
Figure FDA00031607604500000218
E. Active compensation for communication delay
In the formation control law design of the ith AUV, the current actual motion state X of the jth AUV adjacent to the ith AUV obtained on the basis of a state predictor (7) is appliedj(t) estimated value
Figure FDA00031607604500000219
And active compensation of communication delay is realized.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108594845A (en) * 2018-03-23 2018-09-28 哈尔滨工程大学 More AUV formation methods based on PREDICTIVE CONTROL under a kind of communication limitation
CN109521798A (en) * 2019-01-24 2019-03-26 大连海事大学 AUV motion control method based on finite time extended state observer
CN110422284A (en) * 2019-07-24 2019-11-08 华中科技大学 A kind of active compensation method and system based on Ship Motion forecast
CN112527017A (en) * 2020-12-11 2021-03-19 中国科学院沈阳自动化研究所 Ocean observation method based on multiple AUVs

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108594845A (en) * 2018-03-23 2018-09-28 哈尔滨工程大学 More AUV formation methods based on PREDICTIVE CONTROL under a kind of communication limitation
CN109521798A (en) * 2019-01-24 2019-03-26 大连海事大学 AUV motion control method based on finite time extended state observer
CN110422284A (en) * 2019-07-24 2019-11-08 华中科技大学 A kind of active compensation method and system based on Ship Motion forecast
CN112527017A (en) * 2020-12-11 2021-03-19 中国科学院沈阳自动化研究所 Ocean observation method based on multiple AUVs

Non-Patent Citations (3)

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Title
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JUNNAN LIU 等: "Composite learning tracking control for underactuated autonomous underwater vehicle with unknown dynamics and disturbances in three-dimension space", 《APPLIED OCEAN RESEARCH》 *
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