Observer-based Formation Control For Marine Surface Vessel

With the improvement of science and technology and the demand for social production development,people's requirements for engineering quality,work efficiency and functional diversity have been greatly improved,and the complexity of tasks has become higher and higher.In the field of ocean engineering,the control scheme of traditional single vessel can no longer meet the needs of the current complex task.The consensus control of multi-vessel systems has become an urgent problem to be solved.In recent years,multi-vessel formation control has received extensive attention due to its application in marine resource detection,maritime joint search and rescue,and vessel formation escort.Therefore,Based on a more in-depth analysis and discussion of the relevant autonomous surface vessel formation control,and an observer-based vessel formation control method is proposed.The main work is as follows:Firstly,the vessel formation control scheme based on the local observer is proposed.In actual engineering,due to shipborne cost and limited communication,there are some problems in the autonomous surface vessel system that are difficult to measure.This paper introduces a local state observer based on linear matrix inequality(LMI)theory to estimate the states that difficult to measure in the system.On this basis,the formation forming by virtual structure control strategy is designed and using the sliding mode method and Lyapunov theorem to solve the vessel controller and to achieve formation control scheme.Secondly,the distributed vessel formation control scheme based on the local observer is proposed.Compared with the centralized virtual structure control scheme,the distributed formation control scheme is more robust.The virtual structure control strategy relies on the leader.If the abnormal situation occurs in the leader,the system may be unstable.However,the distributed control scheme is more flexible in the control method and has better fault tolerance and scalability.In this paper,the distributed vessel formation control strategy based on local observer is designed.Based on this,the sliding mode method and Lyapunov theorem are used to design the controller,and the distributed vessel formation control scheme based on local observer is achieved.Finally,the distributed heterogeneous vessel formation control scheme based on local observer is proposed.In actual engineering,there is a situation in which the structure of each vessel is not the same in the formation system,which brings difficulties to the design of the vessel controller.In this paper,the distributed heterogeneous vessel formation control scheme based on local observer is designed,and the neural network algorithm is introduced to approximate the nonlinear dynamics in the system.The formation control formation is designed by distributed control strategy.The sliding mode method and Lyapunov theorem are used to solve the vessel controller to achieve the distributed heterogeneous vessel formation control scheme.