Research On Cooperative Control Strategy Of Surface Unmanned Vessel

With the increasing dependence on resources in recent years,and due to the large consumption of land resources,people have increased their efforts to explore water resources,so higher requirements have been put forward for the operation ability of ships.Because of its unmanned,miniaturized and intelligent,small unmanned surface vehicle(USV)is more popular when it carries out water tasks.However,in the face of complex water exploration and monitoring tasks,it shows the shortcomings of a single hull in the process of task execution,such as the limited endurance of the hull,the limited sensor equipment that the hull can carry and so on.In order to solve this problem,this paper uses several USVs to form a whole of task execution,so as to solve the problem of short endurance and limited load of a single ship,and can greatly improve the efficiency of task execution.The periodic control algorithm is widely used in the cooperative control of multi USV,but this control method has a high occupancy rate of system resources,and frequent control switching has a large loss of power hardware.Therefore,in view of the problems existing in the traditional periodic control algorithm and the constraints in the process of multi USV hardware design,this paper presents a multi USV cooperative control strategy based on event triggered control,and develops a multi USV physical hardware platform at the same time,and verifies the control strategy.The main contents of this paper are as follows:Firstly,based on the motion characteristics and physical structure of USV,the principle of multi USV cooperative control system is analyzed,and the structure,technical requirements,feasibility and related fields of the motion control system are introduced.At the same time,the overall scheme of the motion control system framework of USV experimental platform is briefly described,and the mathematical model of USV is given.Secondly,considering the factors such as reducing the wear of power module,prolonging the life of power module and increasing the endurance time,the event triggering conditions and control flow are given.Based on the event triggering conditions,a cooperative control strategy is proposed.By constructing Lyapunov function,the stability analysis is carried out.At the same time,it is proved that there is a strict positive and lower bound in the event triggering time interval,that is,Zeno phenomenon is avoided.Finally,in order to verify the proposed event triggered multi USV cooperative control strategy,the hardware and software design of the multi USV system is given.According to the modular design idea,the functions of USV motion control system,such as ship motion attitude monitoring,motor speed control,remote data communication,are decomposed and reorganized,and the function details are designed.The multi USV motion control system and ground station collaborative control platform are designed.At the same time,a communication protocol is developed to realize the navigation data monitoring,display and transmission control command of USV system.