Research On Theory And Experiment Of Multi-USV Cooperative Formation Control

In recent years,with the rapid development of unmanned surface vessels(USVs)and swarm intelligence,USV cluster technology has been widely concerned.The formation equipment composed of several USVs can improve execution efficiency and complete complex tasks,and has a broad application prospect in the fields of environmental protection,marine search and rescue,customs anti-smuggling and military affairs.The research difficulties of cooperative control of multi-USVs formation are as follows: the dynamic model has the characteristics of nonlinear,strong coupling and underactuated;the disturbance of wind wave and current exists in the operating environment.With those difficulties in the multi-USVs formation research,this paper research the multi-agent system control theory and the formation experiment and theory of multi-USV.Through the combination of theory and experiment,the USV cluster system is deeply studied,and the following research results are obtained:With the complex dynamics model of USV,a method based on compressed sensing for USV model identification is proposed.Firstly,all the possible nonlinear terms existing in the USV mechanism model constitute a dictionary matrix,and the zero norm index of the coefficient is constructed to minimize the non-zero number of coefficients.Then the purpose of eliminating the non-linear term of the small role in the model and retaining the key nonlinear term is achieved.Finally,a nonlinear coupled maneuvering model with high degree of fitting and fitting of USV is obtained.The problem of cooperative predictive control for multi-agent systems without constraints and constraints is studied.Based on the Cucker-Smale model,the multi-agent system cooperative predictive control algorithm is designed.The iterative algorithm is used to obtain the analytical solution of the control law.With the method of complete square polynomial,it is proved that when the adjacency graph of the system has a joint spanning tree,multi-agent system converges to a strict cluster.Finally,the effectiveness of the control algorithm is verified by numerical simulations.The problems of distributed surrounding formation and symmetrical surrounding formation control for multi-USVs are studied.Firstly,a two-layer control framework of the USV including the top-level formation control and the bottom-level motion control is proposed.After that,a distributed surrounding formation controller,a symmetrical siege controller and a target state observer are designed,and motion controller is proposed based on output regulation.Then the stability of the closed-loop system is proved.Finally,based on the indoor and lake USV cluster system platform,the surrounding formation experiments are designed,and the whole process of multi-USVs from random initial state to pursuit,interception and rounding of targets is achieved.Thus effectiveness of the surrounding formation control strategy is verified.The problem of irregular chain channel scanning chain formation control for multiUSVs is studied.A two-dimensional B-spline path planning method is proposed to fit the irregular channel environment.A trajectory tracking controller based on nonlinear model predictive control is designed.The distributed target trajectory state observer is designed to realize the real-time estimation of the leader’s target trajectory by the follower,which achieves the purpose of forming a linear formation for multi-USVs when the communication topology is an undirected connected chain.Finally,based on the lake USV cluster system platform,the multi-USVs scanning chain formation experiment under irregular channel is achieved,and the gap between USVs can be adaptively adjusted to keep the formation relatively stable.Thus effectiveness of the scanning formation controller is verified.An indoor unmanned boat cluster platform and a lake USV cluster system platform are built.Firstly,by developing a small model boat and building an indoor positioning system and workstation,the indoor unmanned boat cluster platform is built.Then,based on the HUSTER-12 s USV platform,the vessel controller is developed,and the corresponding hardware system and software system that can be used for formation experiments are built.At the same time,the multi-function PC software is designed,and the shore-based system with communication,planning and maneuvering functions is built.After that,the shorebased system and multiple unmanned boats are integrated to complete the construction of the unmanned USV cluster platform.Finally,based on the lake USV cluster system platform,the water surface pollutant cleaning experiment in Dongjiang waters is achieved,and the reliability of the platform is verified.Finally,the theory and application of multi-USVs formation are summarized,and the future development direction of multi-USVs formation is prospected.