Research On Cooperative Operation Mechanism Of Unmanned Surface Vehicles Under Weak Communication Condition

With the rapid development of intelligent technology,the research of Unmanned Surface Vehicles(USVs)is getting attention,and significantly oriented the development of future ships.Considering the long distance or long time tasks,the communication ability of the USVs will be reduced by the impact of the environment,so it is of great significance to study the cooperative operation mechanism of rational allocation or scheduling of cluster resources under weak communication.This paper uses local information,stability analysis,hide strategy,multi-agent event triggering mechanism,evolutionary game theory and other methods to study the cooperative operation problem of USVs under two weak communication conditions.The research content is as follows:(1)Considering the first weak communication condition,that is,the communication between the USVs and the control center can still be maintained,aiming at the consensus problem of the USVs,a broadcast-based event triggering method is used to study the USVs cooperative control.The event triggering mechanism is introduced to a multi-agent system with discrete-time and continuous-time dynamics.The hybrid combined measurement and hybrid combined measurement error are designed.The consensus problem is studied by using distributed protocol.Compared to the existing work,the event triggering method further reduces the communication time requirement for each agent while avoiding Zeno behavior and reducing control updates.Lyapunov stability analysis method and simulation experiments triggered by events with different initial states and intensities are used to verify the effectiveness of the designed model.(2)Considering the second weak communication condition,that is,the communication interruption between the USVs and the control center,the autonomous coordination mechanism of the USVs is designed by combining the evolutionary game theory,and a three-strategy model of cooperation,defection and hide considering local information is established.The three strategies correspond to the three behaviors of the unmanned ship respectively:normal execution of the task,abnormal execution of the task and hide.The possible equilibrium state of the system under different parameters is studied by using adaptive dynamics.It is found that the introduction of hide strategy can effectively reduce the occurrence of all the agents choose defection in the system.Through theoretical analysis,the equilibrium states under different initial parameters are obtained,and the results show that the evolution results can be interfered by parameters adjustment to assist the autonomous decision-making of the unmanned ship.