CN116166021B - Unmanned ship formation control method based on double observers - Google Patents
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Abstract
The scheme relates to an unmanned ship formation control method based on double observers. The method comprises the following steps: collecting state information in the running process of each unmanned ship and establishing a state space model; constructing a communication network among the unmanned ships on the basis of the state space model to obtain a communication network topology directed graph; establishing a state observer and a disturbance observer, and establishing a distributed consistency controller based on the state observer and the disturbance observer; and constructing a closed loop system formed by each unmanned ship, positively verifying the closed loop system based on the distributed consistency controller, and controlling unmanned ship formation by using the verified distributed consistency controller. Because the state observer and the disturbance observer are established, the interference of external factors such as ocean currents, extreme weather, electromagnetic waves and the like can be reduced; by constructing the distributed consistency controller, the unmanned ship system task can be ensured to be smoothly developed, and the accuracy and the integral computing capacity of formation control are improved.
Description
Technical Field
The application relates to the technical field of unmanned ship formation control, in particular to an unmanned ship formation control method based on a double observer.
Background
In recent years, with the rapid development of technologies such as automatic control, electronic information and artificial intelligence, unmanned vehicles are gradually maturing in research, and show great application prospects. The unmanned ship on the sea is used as an unmanned carrier and has the advantages of small volume, simple operation, high safety coefficient, low cost and the like. The unmanned marine vessel is an intelligent body with higher automation degree, and can perform information interaction in the process of formation operation, so that the working efficiency and fault tolerance of the system are improved. Because the sea-air interface cooperative control of the unmanned ship on the sea can obtain more accurate meteorological information and data, the meteorological observation and prediction capability can be improved. On the other hand, the sea-air interface observation system formed by the offshore unmanned ship can meet the requirements of the application of observation equipment under different environmental conditions, different types and high-risk environments. In the face of complex environments such as severe sea conditions, the observation system formed by the offshore unmanned ship can execute tasks with high risk coefficients and can reach areas which are difficult to reach by human beings, so that the observation efficiency is improved, and the observation cost is reduced.
The marine unmanned ship formation control system has the characteristics of flexible unmanned ship position change, high information sharing degree, high fault tolerance requirement and the like. However, in the actual control system, the fault tolerance of the system is hard to meet the requirement due to the influence of external disturbance factors such as ocean currents, extreme weather, electromagnetic interference and the like. In an offshore unmanned ship formation control system, unmanned ships are scattered at various key positions, and states are not always information available in real time, which puts higher demands on control strategies. In addition, the safe and stable operation of the offshore unmanned ship control system is an important guarantee for the smooth proceeding of meteorological observation.
Therefore, the conventional marine unmanned ship formation control system has the problems of serious interference and poor controllability.
Disclosure of Invention
Based on the above, in order to solve the above technical problems, a control method for unmanned ship formation based on a dual observer is provided, which can improve the control precision of unmanned ship formation.
A method of unmanned ship formation control based on dual observers, the method comprising:
collecting state information of each unmanned ship in the running process, and establishing a state space model according to the state information; wherein the state space model is a multi-agent model;
constructing a communication network among the unmanned ships on the basis of the state space model to obtain a communication network topology directed graph containing the unmanned ships;
establishing a state observer and a disturbance observer based on the communication network topology directed graph, and establishing a distributed consistency controller based on the state observer and the disturbance observer;
and constructing a closed loop system formed by each unmanned ship, positively verifying the closed loop system based on the distributed consistency controller, and controlling unmanned ship formation by using the verified distributed consistency controller.
In one embodiment, the state space model formula is:wherein (1)>The state vector of the ith unmanned ship at the moment t, m is the number of unmanned ships, and n is the state number of the ith unmanned ship; />The control input vector of the ith unmanned ship at the moment t; />Is an undetectable external disturbance factor causing abnormal operation of the unmanned ship, s is the variety number of the external disturbance factor; />For the measurable output of the ith unmanned ship at time t, r represents x i Dimension of (t), q represents y i Dimension of (t); a, B, C, D, E are the system matrix and +.>The matrix satisfies that A is a Metzler matrix, B is more than or equal to 0, C is more than or equal to 0, D is more than or equal to 0, and E is more than or equal to 0; />N + Respectively representing an n-dimensional vector space, an n-dimensional non-negative vector space, an n x n-dimensional Euclidean matrix space and a positive integer set.
In one embodiment, constructing a communication network between the unmanned vessels based on the state space model to obtain a communication network topology directed graph including the unmanned vessels, including:
establishing a communication network topology among m unmanned ships, wherein the communication network topology is a connected directed graph, and the directed graph is expressed as: Ω= (M, Θ, O), wherein, m= {1,2, M }, m.epsilon.N + Representing a node set abstracted by the unmanned ship;an edge set representing communications between unmanned vessels; />Representing an adjacency matrix where node i can receive information from node j, o ij =1, otherwise o ij ＝0；
The Laplacian matrix L is introduced to describe the communication topology between unmanned vessels,the definition is as follows:where Σ represents the summation symbol.
In one embodiment, the state observer formula established is:wherein (1)>Is the state of the state observation and,is the output of the state observer, L c Is the gain matrix of the state observer to be designed.
In one embodiment, before establishing the disturbance observer, the method further comprises:
constructing an exogenous disturbance model on the basis of the state space model;
the exogenous disturbance model formula is as follows:wherein (1)>Indicating the state of the perturbed system,representing a pair vector xi i (t) derivative operations; both W and U are a symmetric matrix, W+ -0, < + >>Is a Metzler matrix.
In one embodiment, the disturbance observer formula is established as:wherein (1)>Is the state of the disturbance observer, +.>Is omega i Estimation of (t), L d Is the gain matrix of the disturbance observer to be designed.
In one embodiment, based on the state observer and the disturbance observer, the established formula of the distributed consistency controller is:wherein M is i Representing neighbor set, K, of the ith node 0 ,K 1 ,K 2 And K 3 Is the gain matrix of the control protocol to be designed.
In one embodiment, the constructing a closed loop system of each of the unmanned vessels comprises:
and constructing an augmentation system consisting of the unmanned ships, wherein the constructed augmentation system formula is as follows:
wherein,and-e=bk 2 ；
Based on the augmentation system, a closed-loop system is constructed, and the constructed closed-loop system formula is as follows:wherein,and is also provided with
In one embodiment, the positive verification of the closed loop system based on the distributed consistency controller includes:
designing gain matrixes of the state observer, the disturbance observer and the distributed consistency controller, wherein the formulas of the gain matrixes are as follows:
wherein, q1,and->Is an n-dimensional vector, ">And->Q is a q-dimensional vector, q 3 And->Is an s-dimensional vector, and iota is an intermediate variable; 1 n N-dimensional vector representing all elements 1, < ->An n-dimensional vector representing that the i-th element is 1 and the remaining elements are 0;
design constant delta 0 ＞0,δ 1 > 0 and delta 2 ＞0,Vector->z k1 ≥0,/>z k0 ,/>(Vector)z ka ≤0,z kb ≤0,/>z d ≤0,/>z c And->Vector->So that the following inequality holds:
A q 1 +z k0 +λ min z k1 ＜0，
A q 2 -C(z c +z d +z ka )+z k0 +λ min z k1 ＜0，
W B q 2 -W D(z c +z d -z kb )+U q 3 ＜0，
then the gain matrix and initial conditions at the state observer, the disturbance observer, the distributed coherence controllerAnd->The closed loop system is positive and the state of the m unmanned vessels eventually reaches unity.
In one embodiment, the positive verification of the closed loop system based on the distributed consistency controller further includes:
gain matrix and based on the state observer, the disturbance observer, the distributed coherence controllerCalculated-e=bk 2 ；
Based on the gain matrix, the closed loop system andcalculated to obtain
I.e. matrix a+bk 0 +l ii BK 1 ,A-L c C and U-L d DW is the Metzler matrix;
according to the gain matrix sumCalculated BK 0 -BK 3 C+l ii BK 1 ±0,(E-L c D)W±0,-L d C±0,l ij BK 1 Wherein B is a Metzler matrix.
According to the unmanned ship formation control method based on the double observers, the state information in the operation process of each unmanned ship is collected, and a state space model is built according to the state information; wherein the state space model is a multi-agent model; constructing a communication network among the unmanned ships on the basis of the state space model to obtain a communication network topology directed graph containing the unmanned ships; establishing a state observer and a disturbance observer based on the communication network topology directed graph, and establishing a distributed consistency controller based on the state observer and the disturbance observer; and constructing a closed loop system formed by each unmanned ship, positively verifying the closed loop system based on the distributed consistency controller, and controlling unmanned ship formation by using the verified distributed consistency controller. Because the state observer and the disturbance observer are established, the interference of external factors such as ocean currents, extreme weather, electromagnetic waves and the like can be reduced; by constructing the distributed consistency controller, the unmanned ship system task can be ensured to be smoothly developed, and the accuracy and the integral computing capacity of formation control are improved.
Drawings
FIG. 1 is an application environment diagram of an unmanned ship formation control method based on a dual observer in one embodiment;
FIG. 2 is a directed graph of a communication network topology between unmanned vessels in one embodiment;
FIG. 3 is a flow diagram of an unmanned ship formation control method based on a dual observer in one embodiment;
FIG. 4 is a diagram of a distributed coherency control architecture for unmanned ship formation based on dual observers, in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The unmanned ship formation control method based on the double observers, provided by the embodiment of the application, can be applied to an application environment shown in figure 1. As shown in fig. 1, the application environment includes a plurality of unmanned vessels, taking five unmanned vessels as an example, the five unmanned vessels can be distributed on different coordinate positions on the sea level, and a state space model can be built by collecting state information in the running process of the five unmanned vessels. Specifically, the actual offshore unmanned ship system, namely the state space model, is modeled as a multi-agent model in consideration of the fact that the actual unmanned ship operation area is limited to a certain extent and the unmanned ship is distributed in a scattered manner. On the basis of the state space model, a communication network between five unmanned vessels can be constructed, between which communication can take place and which communication is directional, as shown in fig. 1, for example between unmanned vessels 1 and 2 can receive information from each other, unmanned vessel 5 can receive information from unmanned vessel 1, but unmanned vessel 1 cannot receive information from unmanned vessel 5. The communication network topology directed graph between the unmanned ships is shown in fig. 2, wherein 1,2, 3, 4 and 5 in fig. 2 respectively represent serial numbers of five unmanned ships.
In order to ensure that the meteorological observation task is successfully completed, the same running direction and other same states are always kept in the running process of the unmanned ship, in order to reduce interference of external factors such as ocean currents, extreme weather, electromagnetic waves and the like, a state observer and a disturbance observer are established based on a communication network topology directed graph, and because the environment of the unmanned ship at sea is complex, some important state information cannot be directly measured through a sensor and can be acquired through the state observer and the disturbance observer. In addition, based on the state observer and the disturbance observer, a distributed consistency controller is established to ensure the smooth development of unmanned ship system tasks and improve the accuracy and the overall computing capacity of formation control.
In one embodiment, as shown in fig. 3, there is provided a double observer-based unmanned ship formation control method, comprising the steps of:
step 302, collecting state information in the running process of each unmanned ship, and establishing a state space model according to the state information; wherein the state space model is a multi-agent model.
In one embodiment, the state space model formula is:wherein,the state vector of the ith unmanned ship at the moment t, m is the number of unmanned ships, and n is the state number of the ith unmanned ship; />The control input vector of the ith unmanned ship at the moment t;is an undetectable external disturbance factor causing abnormal operation of the unmanned ship, such as extreme weather, electromagnetic interference and the like, and s is the variety number of the external disturbance factor; />For the measurable output of the ith unmanned ship at time t, r represents x i Dimension of (t), q represents y i Dimension of (t); a, B, C, D, E are system matrices, andthe matrix satisfies that A is a Metzler matrix, B is more than or equal to 0, C is more than or equal to 0, D is more than or equal to 0, and E is more than or equal to 0; />N + Respectively representing an n-dimensional vector space, an n-dimensional non-negative vector space, an n x n-dimensional Euclidean matrix space and a positive integer set.
And step 304, constructing a communication network among the unmanned ships on the basis of the state space model, and obtaining a communication network topology directed graph containing the unmanned ships.
In one embodiment, a communication network topology directed graph is shown in fig. 2, and a communication network topology among m unmanned vessels is established, wherein the communication network topology is a connected directed graph, and the directed graph is expressed as: Ω= (M, Θ, O), wherein, m= {1,2, M }, m.epsilon.N + Representing a node set abstracted by the unmanned ship;an edge set representing communications between unmanned vessels;representing an adjacency matrix where node i can receive information from node j, o ij =1, otherwise o ij =0; the Laplacian matrix L is introduced to describe the communication topology structure between unmanned ships, and the unmanned ships are in the +.>The definition is as follows:where Σ represents the summation symbol.
Step 306, based on the communication network topology digraph, a state observer and a disturbance observer are established, and based on the state observer and the disturbance observer, a distributed consistency controller is established.
In one embodiment, the state observer formula established is:wherein (1)>Is the state of the state observation and,is the output of the state observer, L c Is the gain matrix of the state observer to be designed.
Before the state observer is built, an exogenous disturbance model is also required to be built on the basis of the state space model; the exogenous disturbance model formula is:wherein (1)>Representing the state of the perturbation system->Representing a pair vector xi i (t) derivative operations; both W and U are a symmetric matrix, W+ -0, < + >>Is a Metzler matrix.
In one embodiment, the disturbance observer formula established is:wherein,is the state of the disturbance observer, +.>Is omega i Estimation of (t), L d Is the gain matrix of the disturbance observer to be designed.
In one embodiment, based on the state observer and the disturbance observer, the established distributed consistency controller formula is:wherein M is i Representing neighbor set, K, of the ith node 0 ,K 1 ,K 2 And K 3 Is a gain matrix of a control protocol to be designed, wherein a double observer-based unmanned ship formation distributed consistency control structure diagram is shown in fig. 4.
And 308, constructing a closed-loop system formed by each unmanned ship, positively verifying the closed-loop system based on the distributed consistency controller, and controlling unmanned ship formation by using the verified distributed consistency controller.
In one embodiment, prior to constructing a closed loop system of each unmanned ship, an augmentation system of the ith unmanned ship system is constructed, and the formula of the augmentation system is:
wherein,and-e=bk 2 。
Then, a closed-loop system is built based on the augmentation system, and the built closed-loop system formula is as follows:wherein,and is also provided with
In one embodiment, the gain matrix formulas of the designed state observer, the disturbance observer and the distributed consistency controller are as follows:
wherein q 1 ，q 1 ，And->Is an n-dimensional vector, ">And->G as a q-dimensional vector 3 And->Is an s-dimensional vector, and iota is an intermediate variable; 1 n N-dimensional vector representing all elements 1, < ->An n-dimensional vector representing that the i-th element is 1 and the remaining elements are 0;
design constant delta 0 ＞0，δ 1 > 0 and delta 2 ＞0，Vector->z k1 ≥0，/>z k0 ，/>(Vector)z ka ≤0，z kb ≤0，/>z d ≤0，/>z c And->Vector->So that the following inequality holds:
A q 1 +z k0 +λ min z k1 ＜0，
A q 2 -C(z c +z d +z ka )+z k0 +λ min z k1 ＜0，
W B q 2 -W D(z c +z d -z kb )+U q 3 ＜0，
then the gain matrix of the distributed coherence controller at the state observer, disturbance observer, and initial conditionsAnd->The closed loop system is positive and the state of the m unmanned vessels eventually reaches unity.
In one embodiment, the process of positive verification of a closed loop system is:
gain matrix and based on the state observer, the disturbance observer, the distributed coherence controllerCalculated-e=bk 2 ；
Based on gain matrix, closed loop system andcalculated->
I.e. matrix a+bk 0 +l ii BK 1 ,A-L c C and U-L d DW is the Metzler matrix;
according to the gain matrix sumCalculated BK 0 -BK 3 C+l ii BK 1 ±0,(E-L c D)W±0,-L d C±0,l ij BK 1 Wherein B is the Metzler matrix, so the entire marine unmanned ship system, i.e., the positive multi-agent system, is positive.
In one embodiment, in the process of positively verifying the closed-loop system, the method further comprises designing a Liapunov function
Further, deriving V (t) to obtain
Wherein,
definition of xi= (xi) 1 ,Ξ 2 ,…,Ξ i …,Ξ m ) Wherein, xi i ＝(Ξ i1 ，Ξ i2 ，Ξ i3 )，i∈1，2，...，m。
Obtaining according to a closed loop system, a state observer, a disturbance observer and a gain matrix of the distributed consistency controller
Wherein,
further, the binding conditionsObtaining Ξ i3 ＝W D K 3 B q 1 -W E q 1 +W B q 2 -W D L c q 2 +U q 3 -W D L d q 3 ＜0.
I.e. xi i < 0, by further derivation, yieldsThe state of the offshore unmanned ship under the designed distributed consistency controller is finally consistent.
Acquiring state information in the running process of each unmanned ship, and establishing a state space model according to the state information; wherein the state space model is a multi-agent model; constructing a communication network among all unmanned vessels on the basis of the state space model to obtain a communication network topology directed graph containing all unmanned vessels; establishing a state observer and a disturbance observer based on the communication network topology directed graph, and establishing a distributed consistency controller based on the state observer and the disturbance observer; and constructing a closed loop system formed by each unmanned ship, positively verifying the closed loop system based on the distributed consistency controller, and controlling unmanned ship formation by using the verified distributed consistency controller. Because the state observer and the disturbance observer are established, the interference of external factors such as ocean currents, extreme weather, electromagnetic waves and the like can be reduced; by constructing the distributed consistency controller, the unmanned ship system task can be ensured to be smoothly developed, and the accuracy and the integral computing capacity of formation control are improved.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described above may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, and the order of execution of the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with at least a part of the sub-steps or stages of other steps or other steps.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (5)
1. A method for unmanned ship formation control based on double observers, the method comprising:
collecting state information of each unmanned ship in the running process, and establishing a state space model according to the state information; wherein the state space model is a multi-agent model;
constructing a communication network among the unmanned ships on the basis of the state space model to obtain a communication network topology directed graph containing the unmanned ships;
establishing a state observer and a disturbance observer based on the communication network topology directed graph, and establishing a distributed consistency controller based on the state observer and the disturbance observer;
constructing a closed loop system formed by each unmanned ship, positively verifying the closed loop system based on the distributed consistency controllers, and controlling unmanned ship formation by using the verified distributed consistency controllers;
the established state observer formula is as follows:wherein (1)>Status of status observation, ++>Is the output of the state observer, L c Is the gain matrix of the state observer to be designed;
before establishing the disturbance observer, the method further comprises: constructing an exogenous disturbance model on the basis of the state space model; the exogenous disturbance model formula is as follows:wherein (1)>Representing the state of the perturbation system->Representing a pair vector xi i (t) derivative operations; both W and U are a symmetric matrix, W+ -0, < + >>Is a Metzler matrix; the disturbance observer formula is established as follows: />Wherein,is the state of the disturbance observer, +.>Is omega i Estimation of (t)，L d Is a gain matrix of the disturbance observer to be designed;
based on the state observer and the disturbance observer, the established formula of the distributed consistency controller is as follows:wherein M is i Representing neighbor set, K, of the ith node 0 ,K 1 ,K 2 And K 3 Is a gain matrix of the control protocol to be designed;
designing gain matrixes of the state observer, the disturbance observer and the distributed consistency controller, wherein the formulas of the gain matrixes are as follows:
wherein q 1 ,q 1 ,And->Is an n-dimensional vector, ">And->For the q-dimensional vector, q3 and +.>Is an s-dimensional vector, and iota is an intermediate variable; 1 n N-dimensional vector representing all elements 1, < ->An n-dimensional vector representing that the i-th element is 1 and the remaining elements are 0; design constant delta 0 ＞0,δ 1 > 0 and delta 2 ＞0,/>Vector->z k1 ≥0,/>z k0 ,/>Vector->z ka ≥0,z kb ≤0,/>z d ≥0,/>z c And->Vector->So that the following inequality holds:
A q 1 +z k0 +λ min z k1 <0,
A q 2 -C(z c +z a +z ka )+z k0 +λ min z k1 <0,
W B q 2 -W D(z c +z d -z kb )+U q 3 <0,
then the gain matrix and initial conditions at the state observer, the disturbance observer, the distributed coherence controllerAnd->The closed loop system is positive and the state of the m unmanned vessels eventually reaches unity.
2. The unmanned ship formation control method based on the double observer according to claim 1, wherein the state space model formula is:wherein,the state vector of the ith unmanned ship at the moment t, m is the number of unmanned ships, and n is the state number of the ith unmanned ship; />The control input vector of the ith unmanned ship at the moment t;is not equal toThe measurable external disturbance factors causing abnormal operation of the unmanned ship, s is the variety and the number of the external disturbance factors;for the measurable output of the ith unmanned ship at time t, r represents x i Dimension of (t), q represents y i Dimension of (t); a, B, C, D, E are the system matrix and +.>The matrix satisfies that A is a Metzler matrix, B is more than or equal to 0, C is more than or equal to 0, D is more than or equal to 0, and E is more than or equal to 0; />N + Respectively representing an n-dimensional vector space, an n-dimensional non-negative vector space, an n x n-dimensional Euclidean matrix space and a positive integer set.
3. The unmanned ship formation control method based on the double observers according to claim 2, wherein constructing a communication network between the unmanned ships based on the state space model to obtain a communication network topology directed graph containing the unmanned ships comprises:
establishing a communication network topology among m unmanned ships, wherein the communication network topology is a connected directed graph, and the directed graph is expressed as: Ω= (M, Θ, O), wherein, m= {1,2, M }, m.epsilon.N + Representing a node set abstracted by the unmanned ship;an edge set representing communications between unmanned vessels; />Representing an adjacency matrix where node i can receive information from node j, o ij =1, otherwise o ij ＝0；
The Laplacian matrix L is introduced to describe the communication topology between unmanned vessels,the definition is as follows:where Σ represents the summation symbol.
4. A twin observer-based unmanned ship formation control method according to claim 3, wherein the construction of a closed-loop system of each unmanned ship comprises:
and constructing an augmentation system consisting of the unmanned ships, wherein the constructed augmentation system formula is as follows:
wherein,and-e=bk 2 ；
Based on the augmentation system, a closed-loop system is constructed, and the constructed closed-loop system formula is as follows:wherein,and is also provided with
5. The unmanned ship formation control method based on the double observer according to claim 4, wherein the positive verification of the closed loop system based on the distributed consistency controller further comprises:
according to the state observer, the disturbance observer and the divisionGain matrix sum of cloth-type consistency controllerCalculated-e=bk 2 ；
Based on the gain matrix, the closed loop system and
calculated to obtain I.e. matrix a+bk 0 +l ii BK 1 ,A-L c C and U-L d DW is the Metzler matrix;
according to the gain matrix sumCalculated BK 0 -BK 3 C+l ii BK 1 ±0,(E-L c D)W±0,-L d C±0,l ij BK 1 Wherein B is a Metzler matrix.
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