Research On Formation Control Method Of Surface Unmanned Vehicle For Encirclement Task

Compared with single unmanned surface vessel(USV),multi unmanned surface vessel(Multi-USV)formation has more comprehensive target perception ability,higher task execution efficiency,stronger formation adaptability and robustness,which has attracted extensive attention of scientific researchers.The research on the Multi-USV formation control method for the round up task is a further deepening discussion of the traditiona Multi-USV formation control research.At this time,it is not only necessary to consider the characteristics of strong coupling,underactuation,environmental time-varying interference and uncertain model parameters of unmanned craft,In addition,some restrictive factors such as local known target state information and unsustainable internal communication of Multi-USV formation caused by the performance limitation of onboard equipment in the process of siege should be considered.The main contents of this paper are as follows:Firstly,according to the design requirements of Multi-USV formation target trajectory tracking controller,a three degree of freedom USV motion model is established,and the subsequent control methods and related stability theories are introduced.Secondly,on the premise that the parameters of USV model are uncertain and the motion state information of the encircling target is completely known,the formation dynamic target trajectory tracking control algorithm based on adaptive dynamic surface control is designed by using the motion state information of the encircling target,so as to realize the "escort" formation encirclement of the encircling target,The simulation test is carried out to verify the encirclement performance and anti-interference ability of the formation target trajectory tracking controller for the encirclement task.Furthermore,based on the previous research,considering that the formation of the motion state information of the encirclement target is locally known due to the limitation of the performance of the boat borne equipment,a distributed extended state observer(ESO)which only needs the measured position information of the encirclement target is designed to estimate the whole motion state of the encirclement target.At the same time,under the guidance of backstepping,based on line of sight(LOS)and adaptive technology,a Multi-USV formation target trajectory tracking control algorithm for encirclement task is designed to realize the "escort" formation encirclement of encirclement target,and the performance and antiinterference ability of the formation target trajectory tracking controller for encirclement task are verified by simulation test.Finally,focusing on the fact that the Multi-USV formation communication network is often unable to continuously calculate and transmit information in practical engineering applications,a distributed estimator based on the position sampling data of the encirclement target is proposed to obtain the expected motion state of each USV in the formation.At this time,the Multi-USV formation cooperative target tracking control problem can be transformed into a single USV error control problem.Under the guidance idea of backstepping,using sliding mode control and adaptive control technology,the formation target trajectory tracking controller for encirclement task is designed to realize the "escort" formation encirclement of encirclement target.Finally,the performance and anti-interference ability of the formation target trajectory tracking controller for encirclement task are verified by simulation test.