Research On Motion Control Algorithm Of Unmanned Underwater Vehicle Cluster

The acquisition of resources is particularly important for the strategic development of a country,and the ocean attracts people to explore it because of its vast coverage area and rich energy storage.In recent years,with the steady development of Unmanned Underwater Vehicle（UUV）technology,it has been widely used in many fields such as resource exploration,environmental protection,and scientific investigation.It has a very important value for the development and research in the marine field,and has been paid more and more attention.However,many factors such as nonlinearity,strong coupling characteristics of the UUV model itself and the complex underwater environment make the design of its control system difficult.Further,the limited coverage of single UUV,low work efficiency and high control costs will restrict its development.In order to better complete complex marine tasks,the cluster control of UUVs is also the only way to go.Compared to a monocoque.The multiUUV system is composed of multiple unmanned aerial vehicles working in coordination with each other,which can perform a wide range of complex tasks,with higher work efficiency and lower cost.For the formation control of underwater vehicles,there have been some researches,but for the swarm control,many of the current research results,but most of them are only for land-based agents,without considering the complex underwater environment and the model of the UUV itself feature.Many existing algorithms are only based on the particle model for research.It is true that this will reduce the difficulty of algorithm verification,but the authenticity will also decrease.In this paper,the UUV space six-degree-of-freedom model is first introduced.On this basis,combined with the actual task,the underactuated UUV horizontal plane model is established,and the force analysis is carried out on it and converted into a matrix vector form.The expected path is constructed by the spline interpolation method,the speed error model and the heading error model are established in the coordinate system,and the UUV path tracking problem is transformed into the asymptotic stability problem of the error equation near zero.The path tracking closed-loop feedback controller is designed by using nonlinear theory and mathematical tools such as the combination of the S-plane control method and the Lyapunov function,and the path tracking control of the single UUV is completed.On the basis of the multi-UUV coordinated control technology,the artificial potential field method based on cluster control is used to design the gravitational and repulsive potential energy functions,and combined with the UUV plane dynamics model,the multi-UUV flocking motion controller is designed.Finally,a multi-vehicle architecture platform is built.The feasibility of the control algorithm is verified by the lake test.