Research On Formation Control Method Of Unmanned Surface Vehicle Based On Game Theory

Unmanned surface boats, also known as the unmanned submarine or surface robot, is an unmanned surface vessel. In recent years, because of the high use value of unmanned surface boats in military and civilian areas, it has been widely studied. In order to carry out the efficiency and the success of the task, it is often required to carry out multiple unmanned craft, so this involves the problem of multi unmanned surface boat formation system, but also the focus of this paper.Firstly, this paper summarizes the current research situation of the unmanned surface boat formation, and expounds the background and significance of the study on the formation and control method and key technology of unmanned surface boat. In the finally,this article highlights the research focus, that is in the graph based method based on formation control follow the leader, with two linear differential game theory, the formation of unmanned mission planning, path tracking and formation switch.Secondly, is the model of unmanned surface boats. In this paper, two kinds of coordinate system, the North East coordinate system and the hull coordinate system, are established. And then, according to the characteristics of USV, combined with the ship motion modeling theory, starting from the kinematics model, the USV dynamics model,research model and propeller model interference environment, finally established the mathematical model of unmanned surface vessel surface with three degrees of freedom, and through direct and rotary experiments verify the effectiveness of the unmanned modeling and stability.Then, the paper studies the principle of game theory, focuses on the Nash equilibrium and the differential game, and the relationship between the game and the control algorithm.In recent years, game theory has been widely studied in the field of mathematics and economy. Because of its advantages in dynamic systems, game theory has been studied and developed in the control of science, for example, differential game, evolutionary game,extended game, etc.. On the basis of previous studies, this paper finds a linear two time open loop Nash equilibrium method, which is suitable for the formation of multi unmanned surface boats.Lastly, the formation control algorithm is studied. On the basis of graph theory, the formation model of multi unmanned surface boats is established, and the formation value function of the differential game is given. In this paper, we use the linear quadratic differential game method to find the Tanas equilibrium, and give the proof of the control law.Then, in order to realize the state feedback control, the rolling horizon control method is adopted to improve the Nash equilibrium. In order to realize the formation and continuity of the switch, and increase the time related time-varying adjacency matrix, thus realizes the formation change at a specific point in time. Finally, the simulation is verified.