Research On Coordinated Formation Control For Multiple UUV Based On Virtual Leader

The control technology of Unmanned Underwater Vehicle(UUV)is an important technical basis for the application of marine resources development,scientific survey and coastal defense.It is the future development direction of marine military direction.Compared with monomer control,multi-body control has great advantages,multi-body can improve the efficiency of operations,through mutual cooperation can be completed than the monomer can not be completed more complex tasks,and fault tolerance is relatively strong,in the aircraft Intelligent aspects have also been greatly improved.In the multi-body control of the coordination of formation is one of the most commonly used multi-body control,so this article for multi-UUV system formation issues in-depth study,including the following aspects.Firstly,the dynamic and kinematic properties of UUV are analyzed,and the kinetic equations and kinematics models of UUV six degrees of freedom are established.The UUV horizontal motion model is simplified and the model is carried out according to the design requirements and the characteristics of the project.Simulation verification.Second,the design of the virtual pilot for the multi-UUV group leader,responsible for the UUV tracking the desired path to the task,the virtual pilot's path tracking controller using the filter backstepping method to design.The second-order filter is introduced,and the virtual control quantity in the process of derivation is taken as the input of the second-order filter,and the approximation value and the derivative value of the virtual control quantity are outputted.The derivation of the virtual control quantity is avoided,And the filter tracking error compensation circuit is designed to ensure the approximation accuracy of the filter signal to the virtual control quantity.The simulation results show that the designed controller can realize the accurate tracking of the path.Thirdly,based on the path design of the virtual pilot,the multi-UUV formation control based on the passive theory is studied.The formation of the formation formation is based on the defined formation reference point.By defining each UUV(including the pilot)formation The design of the reference point design coordination structure,the use of position variable error structure of the feedback system structure,design passive controller to ensure that the feedback system is passive,making the formation of reference points tend to be consistent to achieve the purpose of formation.Finally,the simulation experiment is carried out,and the simulation results show the effective feasibility of the designed formation controller.Finally,a robust sliding mode formation controller is proposed to solve the perturbation problem of the external environment.The configuration of the formation controller is divided into tracking error controller and speed sliding mode controller.The tracking error controller is designed by using the backstepping method to realize the stabilization of the position error.The speed error is designed by sliding mode control method,which can suppress the external disturbance while ensuring the control precision.Finally,the simulation experiment is carried out.The simulation results show that the designed formation controller has strong robustness and multi-UUV formation control.