Model-free fully-distributed unmanned ship cooperative time-varying formation control method based on body coordinate system

• Main Authors: SU YUMIN, ZHU CHENG, ZHANG LEI, ZHUANG JIAYUAN, HUANG BING, ZHOU BIN
• Format: Patent
• Language: Chinese; English
• Published: 09.08.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides a model-free fully-distributed unmanned ship cooperative time-varying formation control method based on a body coordinate system. The method comprises the following steps: (1) establishing a communication topology based on stress constraint; (2) establishing an expected formation and determining a control target; (3) designing a controller of the affine formation; (4) verifying the stability and robustness of the unmanned ship formation system; according to the method, formation transformation such as scaling, shearing and rotating can be rapidly carried out by combining affine transformation related concepts. Meanwhile, the boat body in the system can realize formation control in a denial environment by depending on perception interaction and inertia information of the boat, the complexity of a controller is effectively reduced, and the calculated amount is lower. 本发明提供一种基于随体坐标系的无模型全分布式无人艇协同时变队形控制方法，包括：(1)建立基于应力约束的通信拓扑；(2)建立期望队形并确定控制目标；(3)设计仿射编队的控制器；(4)验证无人艇编队系统的稳定性和鲁棒性；本发明结合了仿射变换相关概念可