Research On Unmanned Surface Vehicles Swarm And Its Control Methods

As is known to us all,the task of surface and underwater operation in ocean space is becoming more and more complex and large-scale.Unmanned intelligent swarm is an important development direction of ocean military operation mode in the future.As a product of the development of Marine Intelligent Robotics technology,unmanned surface vehicles swarm(USVs)plays a key role in three-dimensional ocean space by virtue of its advantages of sea-air interface operation.The purpose of this paper is to develop a swarm system of USVs.It’s mainly focuses on the overall scheme design of the system,the research on the control method of USV and its swarm,the software design,system debugging and experimental analysis.The control requirements of the system are comprehensively analyzed,and the overall control scheme of the system is designed,including power subsystem,communication subsystem,navigation and positioning subsystem and control subsystem.The system adopts centralized architecture.WLAN is set up to realize communication between shore stations and USVs.RTK technology ensures the precise navigation and positioning of USVs.Finally the functions of remote control,stabilization control,tracking control and swarm control are achieved.For the stabilization and tracking control of USV,the mathematical model of horizontal motion of underactuated USV is studied firstly.Then the dynamic model of tracking error is established in polar coordinates,and an integrated controller for tracking control and stabilization control is proposed through the assistant behavior of virtual USV.The simulation results show that the tracking effect of USV is excellent,and it can berth automatically in the expected position.The swarm control of USVs is transformed into the stabilization of tracking errors between USVs and their corresponding points in the virtual structure by using the virtual structure method.The formation transformation of USVs is realized by changing the geometrical shape of the virtual structure.For the problems of unknown environmental disturbances and unmeasurable velocities of USVs in actual navigation,the adaptive laws and state observers are designed.Finally,a robust adaptive swarm controller of USVs based on state reconstruction is proposed.The simulation comparison verifies the superiority of the control laws.Specifically,USVs swarm can achieve cooperative navigation without relying on their own velocities,and can compensate uncertain interference adaptively,which shows strong robustness and practical value.On the basis of the above theoretical research,the software design of the system is carried out,which includes the system monitoring software design,the electronic navigation map software design,the USV control software design and the communication design between them.A USVs test platform is built,so that various debugging and experiments are carried out to verify the validity and feasibility of the unmanned surface vehicles swarm system designed in this paper.