考虑浮绳联结的双无人船艇系统协同控制策略研究

针对青岛等海域浒苔泛滥成灾的问题,开展了由浮绳柔性连接两艘水面无人船艇构成的双无人船艇系统协同控制策略研究,通过双无人船艇系统清扫浒苔,并将其拖运至海岸.考虑系统中的无人船艇动力、浮绳力矩和水流产生的干扰力矩,建立了欠驱动无人船艇三自由度动力学模型,提出了基于距离的包含编队和跟踪两个模式的协同控制策略.双无人船艇系统作...

Research on Cooperative Control of Surface Unmanned System Platform

Aiming at the problem that Enteromorpha prolific in Qingdao and other sea areas,the cooperative control strategy of double unmanned boat system composed of two surface unmanned boats flexibly connected by floating rope is studied.Enteromorpha prolifera is cleaned and towed to the coast by double unmanned boat system.A three degree of freedom dynamic model of underactuated unmanned boat is established by considering the dynamics of unmanned boat,the moment of floating rope and the interference moment caused by water flow;A distance based cooperative control strategy including formation and tracking modes is proposed.During the operation of the double unmanned boat system,the appropriate cooperation mode is selected intelligently in combination with the force and distance relationship of the system.Compared with other similar control strategies,the stability of the control strategy in this paper is significantly improved and has a certain anti-interference ability.The simulation results show that the dual unmanned boat cooperative control system can win the task of Enteromorpha prolifera cleaning,which proves the effectiveness of the above control strategy.