Research On Control Algorithm For Sea-air Collaborative Observation Tasks

There is a great demand for marine environmental observation in the South China Sea and its adjacent areas,so promoting the development of marine environmental observation technology in this area is of great significance for the implementation of the marine power strategy.In view of the lack of marine observation capability at present,it is necessary to develop a new high-precision and automatic sea-air cooperative observation system,which requires the development of multi-agent cooperative control algorithm to cooperate with many kinds of intelligent equipment,such as unmanned craft,unmanned aerial vehicle and so on,to achieve sea-air cooperative observation tasks.After investigation,the traditional control algorithm depends too much on the system model parameters,and does not take into account the impact of communication delay on the uncertainty of the system.In addition,due to different tasks and different constraints,the traditional control algorithm is not suitable for this project.Therefore,the control algorithm for sea-air cooperative observation mission is studied in this paper,and the main work is as follows:(1)The observation mission requires a number of unmanned vessels to carry out large-scale observation of specific marine phenomena such as mesoscale eddies in the form of cluster formation.In this paper,firstly,a cooperative formation algorithm for multiple unmanned vehicles with continuous,discrete and time delay is designed.Secondly,in order to solve the problem of long positioning interval caused by the limited bandwidth of Beidou satellite communication,a position prediction method based on extended Kalman filter is proposed to realize the optimal prediction of unmanned ship position under communication delay.In addition,in order to solve the problem that the parameters of the unmanned ship PID controller are difficult to be adjusted,a PID optimization method based on gravity search algorithm is proposed to ensure the stability of the sea surface multi-unmanned ship formation system.(2)The observation mission needs to guide multiple unmanned craft and UAV to observe the isotherm data of mesoscale eddies.The mission requires the unmanned craft to first search out the isotherm and navigate independently along the isotherm to record the data.Secondly,the UAV carries on the large-scale data "meter reading" to the observation data of the unmanned ship.Considering the dynamics of the marine environment and the complexity of heterogeneous systems,this paper proposes a depth deterministic strategy gradient control algorithm based on data-driven,which realizes the tracking isotherm of unmanned boats.and sea-air heterogeneous cooperative observation of multiple drones and drones.