Underwater distributed state observation formation control method based on time sequence prediction

• Main Authors: ZHANG LICHUAN, LIU LU, PAN GUANG, ZHAO JUN, ZHANG XIAOMENG, HAN GUANGYAO, HAO XUEWEI, ZHANG SHUO, WANG HE
• Format: Patent
• Language: Chinese; English
• Published: 05.07.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to the technical field of underwater vehicle control, in particular to an underwater distributed state observation formation control method based on time sequence prediction, which comprises the following steps: acquiring a dynamic model of a virtual pilot AUV (Autonomous Underwater Vehicle) under generalized coordinates; acquiring a bandwidth-limited initial distributed observer corresponding to the following AUV; acquiring a distributed observer corresponding to the following AUV; and predicting the trajectory of the AUV formation, and controlling the AUV formation. According to the method, the influence of time delay and communication interruption on the distributed observer under the limited bandwidth is effectively relieved, and powerful support is provided for the stability and reliability of formation control, so that an accurate AUV formation track is predicted. 本发明涉及水下航行器的控制技术领域，具体涉及一种基于时间序列预测的水下分布式状态观测编队控制方法，包括：获取虚拟领航AUV在广义坐标下的动力学模型；获取跟随AUV对应的带宽受限的初始分布式观测器；获取跟随AUV对应的分布式观测器；预测AU