Under-actuated unmanned ship distributed formation control method in denial environment

• Main Authors: SU YUMIN, ZHU CHENG, ZHANG LEI, ZHUANG JIAYUAN, HUANG BING, ZHOU BIN
• Format: Patent
• Language: Chinese; English
• Published: 31.05.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides an underactuated unmanned surface vehicle distributed formation control method in a denial environment. The method comprises the following steps: step 1, establishing an underactuated unmanned surface vehicle formation model; 2, designing a controller of the pure azimuth angle under-actuated unmanned ship formation; and 3, verifying the stability of the under-actuated unmanned ship formation control strategy based on the pure azimuth angle. According to the invention, formation control of the under-actuated unmanned surface vehicle is realized only through the visual and inertial sensors, and the use of a communication network and a positioning sensor is avoided, so that control application in a denial environment is realized. 本发明提供一种拒止环境下的欠驱动无人艇分布式编队控制方法，包括：步骤1：建立欠驱动无人艇的编队模型；步骤2：设计纯方位角的欠驱动无人艇编队的控制器；步骤3：验证基于纯方位角的欠驱动无人艇编队控制策略的稳定性。本发明仅通过视觉和惯性传感器实现欠驱动无人艇的编队控制，避免使用通信网络和定位传感器，以实现拒止环境下的控制应用。