Research On Coordinated Control Of Mutiple Unmanned Surface Vessels Cluster Based On Underactuated Model

Due to the role of unmanned surface vessels in transportation,port patrol,bathymetry sampling,charting,seabed resource protection and other aspects.The research on unmanned surface vessel has attracted increasing attention from researchers.Multiple underactuated unmanned surface vessels network is a complex dynamic network composed of several underactuated unmanned surface vessels.This thesis consider the control problem of group dynamic behavior of multiple underactuated unmanned surface vessels networks with complex dynamics,strong coupling,underactuation,enviro nmental disturbance and model parameter uncertainty.The hierarchical control framework and the distributed algorithm are designed to make sure that all vessels can communicate with each other and achieve a variety of group dynamic behavior,so as to complete more complex tasks.The main contents are summarized as follows.Firstly,for the multiple underactuated unmanned surface vessels networks with multiple targets,considering complex dynamics,the hierarchical control framework is proposed.The design of the controller is divided into two layers,the first layer is the design of the distributed algorithm based on position and speed information,which is used to estimate the reference position of each unmanned surface vessel based on targets.The second layer is the design of local controller according to the dynamics of the unmanned surface vessel.Then the two layers are analyzed together to obtain the control input that enables multiple surface unmanned vessels can track multiple targets.Secondly,for the formation control problem of multiple underactuated unmanned surface vessels with a leader,the control algorithm is designed by using position,speed and acceleration information.The formation problem is converted to the problem of error analysis,and the communication among the underactuated unmanned surface vessels are based on sampled information which can decrease the communication cost.The formation task is achieved by using the dynamics of vessels and the distributed formation algorithm based on position,velocity and acceleration information.Finally,the tracking consensus problem of multiple underactuated unmanned surface vessels with model uncertainties and environment disturbance is studied.The model uncertainties are estimated by using radial basis function(RBF)neural network.The distributed controllers are obtained by analyzing both of the coordination layer and the local control layer by using graph theory,Lyapunov theory,sliding control theory and backstepping method.The correctness of the control algorithm is verified by simulation experiments.