Research On Finite Time Formation Control Of Multi-surface Ships

With the development of navigation technology,more and more people have begun to pay attention to the research of ship formation control methods.There are also many research results on ship formation control at home and abroad,but these results are mostly aimed at the infinite time convergence problem of ship formation control.That is,the formation ships cannot complete the formation within a limited time.There are few methods for the limited time formation control of multi-surface ships.Therefore,the limited time formation control method for ships needs more in-depth research.The finite time control method can not only improve the convergence speed and control accuracy of the control system.In addition,due to the fractional power contained in the finite-time control protocol,the finite-time closed-loop system is superior to the asymptotic closed-loop system in terms of anti-interference.Therefore,from the perspective of time optimization,it is a good control method to make the control system converge in a finite time and maintain a stable state.However,ships have strong nonlinearity and strong disturbance characteristics.Therefore,it is difficult to study the limited time formation control method of multi-surface ships.In this paper,the following aspects are studied for the limited time formation control problem of multi-surface ships:(1)Aiming at the problem of finite-time formation control of multi-surface ships,the finite-time formation control rate is designed based on the homogeneous theory and the Lassalle invariant principle,and then the finite-time stability criterion and Lyapunov function are used to limit the designed control rate.Time stability analysis,and finally the feasibility and effectiveness of the proposed algorithm are verified through simulation results.(2)On the basis of the above research,aiming at the problem that the expected information of ship motion is locally known,a finite-time state observer is designed to estimate the expected information based on the virtual navigator state,so that ships that have not directly obtained the expected information can accurately estimate Expect information and successfully complete the formation with other ships based on mutual communication between ships.Then use the Lyapunov function to verify the stability of the proposed algorithm,and finally verify the feasibility of the proposed algorithm through a specific simulation result graph.