Research On Cooperative Control Of Multiple Unmanned Surface Vehicles Based On Distributed Optimization

The ocean is rich in resources and is an important resource for the sustainable development of human beings.Unmanned Surface Vehicle(USV)is an important tool for human beings to understand,develop,protect and utilize the ocean.It is widely used in civil and military fields,such as search and rescue,resource exploration,environmental monitoring,ocean supply and so on.In the key technical field of USV,the problem of distributed optimal cooperative control has become a research hot spot.In this paper,the fully driven USV is taken as the research object.The distributed optimal cooperative dynamic positioning control of dynamic unknown multiple USVs,the cooperative dynamic positioning of dynamic unknown multiple USVs distributed optimization and control decoupling,and the distributed optimal cooperative trajectory tracking control of multiple USVs based on time-varying optimization function are studied.The main work of this paper is as follows:Firstly,aiming at the fully driven multiple USVs system with marine environment disturbance,the problem of distributed optimal cooperative dynamic positioning control for multiple USVs is studied.First of all,the uncertain parameters of the USV model and the unknown marine environment disturbance are regarded as the total disturbance,and an asymptotically extended state observer is designed to observe the total disturbance information.Then the collaborative dynamic positioning controller is designed based on the consistency method and the distributed optimization method.Through the cascade stability,it is proved that the closed-loop system is globally uniformly asymptotically stable.Finally,the simulation results verify the effectiveness of the distributed optimization cooperative dynamic positioning control method for multiple USVs.Secondly,on the basis of the above,the cooperative dynamic positioning problem of distributed optimization and control decoupling of multiple USVs is studied.First of all,a hierarchical control structure of optimization and control decoupling is proposed.in the optimization layer,the reference trajectory is generated by combining the consistency method and the distributed optimizer;in the control layer,the designed asymptotically extended state observer is used to estimate the uncertainty of the system,and the observer is used to design the trajectory tracking controller based on back-stepping method.Through the cascade stability,it is proved that the closed-loop system is input state stable and ultimately uniformly bounded.Finally,the simulation results verify the effectiveness of the cooperative dynamic positioning method based on distributed optimization and control decoupling of multiple USVs.Thirdly,aiming at the fully driven multiple USVs system under unknown model parameters and marine environment disturbance,the problem of distributed optimal cooperative trajectory tracking control for multiple USVs based on time-varying optimization function is studied.In the optimization layer,the time-varying optimization function is designed,and the reference trajectory is generated by the distributed time-varying optimizer.In the control layer,a position-based third-order extended state observer is designed,and the output feedback controller is designed by combining the extended state observer and the back-stepping method.Through the cascade stability,it is proved that the closed-loop system is stable in the input state.Finally,the simulation results verify the effectiveness of the multiple USVs distributed optimization cooperative trajectory tracking control method based on time-varying optimization function.