Integral LOS Based Cooperative Path Following Of Unmanned Surface Vehicles

Unmanned surface vehicles can help human to explore and develop the ocean.It has the characteristics of unmanned and intelligent.It can replace human to complete the more dangerous and more complex tasks,so that the unmanned surface vehicles gradually be used in civil and military fields.In recent years,with the development of Marine science and technology,the work of unmanned surface vehicles have also changed.The work developed from the single to a number of collaborative.The collaboration of the multiple unmanned surface vehicles can help them to complete the task which a single individual can not do.Therefore,it has important practical significance to research the collaborative path tracking of the multiple unmanned surface vehicles.This paper takes the underactuated unmanned surface vehicles as a research object.It combined with the theory of system,graph,neural network and other tools.Considering the uncertainty in the system,the complexity of the controller structure,the state variables can not be measured,and the external disturbance of the system,the main work of this paper includes the following aspects:Firstly,for the problem of tracking control of the unmanned surface vehicles in the straight line and curve under the ocean current,using the integral LOS navigation law,to design a tracking controller of straight and curve line.The stability analysis of lyapunov shows that the closed loop system is semi globally consistent and eventually bounded.The results of the simulation confirm the validity of the given control algorithm.Secondly,assuming that the parameters of the controller of the unmanned surface vehicles are known.Aiming at the problem of cooperative path tracking in the process of unmanned surface vehicles,the method of graph theory combined with multiple agent coherence algorithm are adopted.At the same time,based on LOS navigation law,design a kind of coordinated control strategy of the unmanned surface vehicles.This strategy estimates the unknown derivative in the control system by the adaptive algorithm.The results of the simulation confirm the validity of the given controlThirdly,in the case of unknown parameters of unmanned surface vehicles controller.The LOS algorithm can effectively offset the characteristics of ocean current interference.The neural network is used to approximate the unknown parameters of underactuated unmanned surface vehicles.The stability analysis of lyapunov shows that the closed loop system is semi globally consistent and eventually bounded.The results of the simulation confirm the validity of the given control algorithm.