Research On UUV Formation Reconstruction Method Under Autonomous Distribution Rules

This paper takes the coordinated control of Multiple Unmanned Underwater Vehicles Formation under different communication conditions as the carrier to study the redistribution of these UUVs(also called UUVs which are waiting to be assigned)after the UUVs losing the original UUV formation in the sea or a single UUV has completed the established tasks.The other UUV formation methods and the key issues such as the reorganization of the UUV formation internal communication topology after the UUVs join the new UUV formation are studied and analyzed:1.As a consequence,this paper first constructs the formation architecture of the UUV formation system.The UUV members of the formation communicate with each other through the communication layer so that they can work together.On the basis of mathematical theory graph theory,the communication topology of communication between members is established.Because the UUV itself has complex hydrodynamic characteristics,based on the mathematical theory of Li derivative and differential manifold,a Feedback Linearization method is proposed to establish a second-order linear integral model of UUV formation system.2.Concerning about the UUV perform the formation task,it is very important for the formation members to move from the scattered state to the formation.Through the characteristics of this process,it is classified as UUV formation coordination control problem.Since the UUV formation communication layer has discrete characteristics,UUV members are assumed to have different communication conditions when communicating in UUV formation coordination control according to actual conditions.On this basis,the equivalent relationship between the consistency problem and the UUV formation control problem is established,and the UUV formation coordination controller under different conditions is designed.Under the condition of no communication time delay and bounded communication time delay,matrix theory is used to prove that UUV formation can meet the conditions required for stable formation.3.In the complex marine environment,the traditional single-layer topology transmits more than 12 state variables at a time,which is easy to cause data loss and delay.The hypothesis of layering the communication topology is proposed,and the UUV formation is formed under the layered communication topology.The system performs coordinated control.The mathematical theory of block matrix and consistency is used to prove that the UUV formation is consistent and stable under the communication topology,and compared with the single-layer communication topology.On the other hand,from the perspective of time delay,the boundary conditions for ensuring stable convergence of underwater submarine formations during formation formation are obtained by Lyapunov-Razdim theory.4.For UUV formations,UUVs that have lost formations are often encountered in marine survey missions,or reuse of the UUVs which have finished the missions in a certain sea area,A solution for distributing single UUVs to other UUV formations is proposed.For UUVs that meet the above conditions,they are collectively referred as UUVs which are waiting to be assigned.Secondly,UUVs that are waiting to be assigned broadcast water sonar signals for seeking other UUV formations,Analysis and discussion on the response of leaders of UUV formations in three different situations.Then,according to the actual ocean conditions,it is proposed that there is a time-varying time delay between the UUV which are waiting to be assigned and the UUV formations.After the UUV which has been assigned to the formation arrives the UUV formation,analysis the internal communication topology reorganization of the UUV formation.Designing the adjacent communication after the new UUV is added to reconstruct the internal communication topology of the formation,so that the UUV formation as a whole can still be stable and consistent.