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Research On Cruise Formation Of Underwater Unmanned Systems Based On Active Disturbance Rejection Control

Posted on:2024-06-11Degree:MasterType:Thesis
Country:ChinaCandidate:C C LiuFull Text:PDF
GTID:2542307127461184Subject:Computer technology
Abstract/Summary:PDF Full Text Request
Underwater unmanned systems are widely used in important tasks such as underwater detection and reconnaissance.However,a single unmanned system has the problems of small detection range and low efficiency,which makes it difficult to cope with the increasingly complex practical applications.The cooperative formation of multiple unmanned systems shows great advantages in port and shallow sea environment.And its formation and cruise control are the most basic control objectives of multiple underwater unmanned systems collaboration.However,at present,the communication between underwater unmanned systems mostly uses underwater acoustic,image and other methods.There are some problems,such as large signal noise,error between observed value and actual state,and complex terrain constraints.These problems have also become the main factors limiting the collaboration of multiple underwater unmanned systems.Therefore,this paper mainly studies the cooperative cruise control of multiple underwater unmanned systems in complex environment.Firstly,according to the actual situation of underwater communication equipment such as underwater acoustic signal noise,and considering the control role of PID controller and linear active Disturbance rejection controller(LADRC),an improved active disturbance rejection controller is designed in this paper.Based on the error study,the linear extended state observer(LESO)of LADRC is redesigned.The improved LESO can adjust these state variables by adjusting the error relationship between each state variable and its observed value,so as to make the observed state more accurate.The simulation results show that the modified LADRC controller has higher anti-jamming performance and system response speed than the conventional LADRC and PID control,and the system convergence rate under the improved LADRC control is also higher than the conventional LADRC control,and the system stability is stronger.In addition,due to the complex environment,the traditional terrain avoidance algorithm is easy to fall into the local minimum point,which leads to the oscillation or planning failure of the planned path.To solve this problem,the traditional artificial potential field method is improved and a new repulsive function is designed to reduce the oscillation of the whole formation during cruising.A rotating potential field is introduced,that is,when the repulsive force and the gravitational force are in a straight line,and the resultant force is almost zero,a force perpendicular to the repulsive force is applied to the multi-underwater unmanned systems,so that the resultant force is not zero,so that the multiple underwater unmanned systems can jump out of the local minimum point as soon as possible.Finally,the simulation experiment for the cruise control of multi-underwater unmanned systems is carried out.The results show that the proposed method can realize the cruise control of multi-systems well.Compared with the traditional potential field method,the newly designed potential field method can not only reduce the oscillation problem of the formation during cruise,but also effectively avoid the local minimum problem.
Keywords/Search Tags:Underwater unmanned system, LADRC, Artificial potential field method, Control of formation, Cruise control
PDF Full Text Request
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