CN-121995762-A - Under-actuated ship limited time formation control method based on historical data trigger mechanism

CN121995762ACN 121995762 ACN121995762 ACN 121995762ACN-121995762-A

Abstract

The invention discloses an under-actuated ship finite time formation control method based on a historical data trigger mechanism, which comprises the steps of constructing a ship formation virtual control law by introducing a power nonlinear feedback item according to the formation tracking error, introducing a first-order nonlinear filter to filter the virtual control law, and approximating unknown function items in an error dynamic equation by adopting a radial basis function neural network to obtain an optimized error dynamic equation; and constructing an information-guided dynamic event trigger mechanism based on historical trigger data, combining a formation cooperative control law and a parameter update law, and realizing underactuated ship finite time formation control based on the historical trigger mechanism. The method solves the problems that the existing method does not fully integrate the data weight dynamic regulation characteristic of the historical trigger moment, is difficult to realize the dynamic balance of control performance and communication efficiency, and cannot meet the requirement of limited time quick response of time-sensitive tasks.

Inventors

HUANG CHENFENG
CHEN ZHUANGZHUANG
ZHANG HAORAN
ZHUANG XIUYU
WEI RUI
ZHANG GUOQING
GONG GUOBAO

Assignees

大连海事大学

Dates

Publication Date: 20260508
Application Date: 20260211

Claims (6)

1. The under-actuated ship limited time formation control method based on the historical data trigger mechanism is characterized by comprising the following steps of: s1, acquiring an under-actuated ship model for establishing a leading ship and a following ship in ship formation; S2, establishing a pilot-following ship formation reference position vector, defining formation tracking errors based on a preset expected path and an under-actuated ship model, and constructing a ship formation virtual control law by introducing a power nonlinear feedback item according to the formation tracking errors so as to ensure that the formation tracking errors are quickly converged to a preset bounded area within a preset limited time; S3, introducing a first-order nonlinear filter to filter the virtual control law to obtain a filtered signal; acquiring an error dynamic equation containing an unknown function term according to the filtered signal and the under-actuated ship model; Adopting a radial basis function neural network to perform approximation processing on unknown function items in the error dynamic equation to obtain an optimized error dynamic equation; s4, constructing an information-guided dynamic event triggering mechanism based on historical triggering data based on the combination of an optimization error dynamic equation and formation tracking errors; And S5, constructing a formation cooperative control law and a parameter updating law according to the optimization error dynamic equation, and combining the formation cooperative control law and the parameter updating law by using the dynamic event triggering mechanism based on information guidance to realize under-actuated ship finite time formation control based on the historical data triggering mechanism.
2. The method for controlling finite time queuing of under-actuated vessels based on a historical data trigger mechanism according to claim 1, wherein the under-actuated vessel model in S1 is: Wherein: representing the position coordinates of the underactuated ship; representing a heading angle of the underactuated vessel; Respectively representing the heave speed, the sway speed and the yaw angular speed of the under-actuated ship; is an uncertain function of ship dynamics; Representing a quality parameter of the vessel; Representing an immeasurable force or moment caused by an external disturbance; representing the longitudinal propulsion provided by the propeller; representing the turning moment generated by the rudder; Representation of Is a first order derivative of (a).
3. The method for controlling the limited time queuing of the underactuated ship based on the historical data triggering mechanism according to claim 2, wherein the step S2 specifically comprises the following steps: S21, establishing a pilot-following ship formation reference position vector as follows: Wherein: representing the position and heading angle of the navigation ship ; Representing coordinate and heading angle information of a set following virtual ship ; Representing defined vessels in a pilot-following vessel formation Is set up vector and ; , Respectively representing the set distance and angle; representing a transpose; Representing a parameter matrix; S22, combining the underactuated ship model based on a preset expected path, and defining formation tracking errors according to a reference position vector as follows: Wherein: representing a ship tracking position error; representing a heading angle error; Representing a ship Position coordinates of (c); represents an intermediate variable; Representing a ship Relative angle to following the virtual boat; Representing a ship Is a bow angle; S23, constructing a ship formation virtual control law by introducing a power nonlinear feedback item according to the formation tracking error so as to ensure that the formation tracking error is quickly converged to a preset limited area within a preset limited time, wherein the ship formation virtual control law is as follows: Wherein: representing a virtual control law of ship formation; Representing a positive design parameter; Representing a positive constant; a non-linear feedback term of the power; Representation of Is a first order derivative of (a); The representation range takes a finite time parameter of 0-1.
4. The method for controlling the finite time queuing of the underactuated ship based on the historical data triggering mechanism according to claim 3, wherein the step S3 specifically comprises the following steps: s31, introducing a first-order nonlinear filter to filter the virtual control law to obtain a filtered signal; and the acquisition formula of the filtering signal is as follows: Wherein: representing the filtered signal; representing the filtering parameters; Representation of Is a first order derivative of (a); Representation of Is set to an initial value of (1); Representation of Is set to an initial value of (1); S32, according to the filtered signal and the under-actuated ship model, obtaining an error dynamic equation containing an unknown function term as follows: Wherein: representing kinematic errors; Representing a ship Is equal to the pitching speed and the bow angular speed; Representation of Is a first order derivative of (a); Representing a ship Is an unknown function term of (2); Representing a ship Longitudinal propulsion provided by the propeller; Representing a ship The turning moment generated by the rudder; S33, performing approximation processing on unknown function items in the error dynamic equation by adopting a radial basis function neural network, wherein the expression is as follows: Wherein: Representing radial basis function neural network RBF vectors; representing an optimal weight matrix; representing a bounded approximation error; representing intermediate parameters; S34, substituting the result obtained after the approximation processing in the S33 into an error dynamic equation to obtain an optimized error dynamic equation, wherein the optimized error dynamic equation is as follows: , Wherein: representing intermediate parameters; Representing a set model nonlinear damping term; Respectively represent Is the maximum value of (2); respectively represent bounded approximation errors Is a maximum value of (a).
5. The method for controlling finite time formation of under-actuated ships based on historical data triggering mechanism as claimed in claim 4, wherein the method for constructing the historical triggering data based information-guided dynamic event triggering mechanism in S4 specifically comprises the steps of: s41, event triggering errors defined by combining formation tracking errors based on an optimization error dynamic equation are as follows: Wherein: representing an event trigger error; Respectively represent Corresponding to the triggering time ; Represent the first Triggering time of each event; Represent the first Triggering time; Represents a positive integer; s42, constructing event triggering conditions according to the event triggering errors, wherein the event triggering conditions are as follows: Wherein: Represent the first Data weight of each historical trigger moment and satisfies , First, a third step The final expression of each trigger time is ; Representing a positive design parameter; representing definition parameters; representing design parameters; representing the number of historical trigger times considered by the event trigger function before the next trigger time occurs; Represent the first Event trigger errors at each historical trigger time; Representing the intermediate parameter.
6. The method for controlling finite time formation of under-actuated ships based on a historical data trigger mechanism according to claim 5, wherein the formation cooperative control law and parameter update law in S5 are: Wherein: adaptive parameters representing formation cooperative control laws; Representation of Is a function of the estimated value of (2); Representation of Is a first order derivative of (a); Representing a positive design parameter; Representation of Is set to an initial value of (1); An intermediate variable; representing a positive design parameter.

Description

Under-actuated ship limited time formation control method based on historical data trigger mechanism Technical Field The invention relates to the technical field of ship motion control and multi-agent cooperative control, in particular to an underactuated ship limited time formation control method based on a historical data trigger mechanism. Background The existing multi-underactuated ship formation control mostly adopts a pilot-following structure, and the core depends on communication topology and state estimation precision.In the navigation process, control instructions (main engine rotating speed and rudder angle) generated by the controller are required to be transmitted to the execution equipment in real time, and a control basis is provided for navigation movement of the carrier. Particularly, under the severe environment working condition, the propulsion system and the control surface need to continuously respond and execute various control instructions, and the high-frequency operation is not only easy to cause mechanical abrasion of the actuator and increase the communication frequency of a channel, but also can further induce the failure of the actuator to influence the stability of navigation control. At present, in the multi-underactuated ship formation control task, the quick response requirements of the limited communication resources (such as problems of high-frequency communication on the water surface, large delay, easiness in being influenced by ocean severe environments and the like) and the time-sensitive tasks (such as search and rescue and emergency response) are core technical challenges faced by offshore engineering, the event triggering mechanism reduces the communication load, and the formation control instantaneity is enhanced in limited time. However, the existing related control method still has the following two significant defects, and is difficult to meet the application requirements of actual engineering: 1) The existing event triggering mechanism does not fully integrate the data weight dynamic regulation characteristic of the historical triggering moment, cannot adapt to complex communication scenes of long-time multi-factor coupling in ship formation, is difficult to realize the dynamic balance of control performance and communication efficiency, and is inconvenient for popularization and application of the algorithm in actual offshore engineering. 2) Considering the dual severe demands of under-actuated ship formation on response speed and formation precision, the conventional control method has the characteristics of multi-focusing asymptotic convergence, tracking errors need to be approaching zero in infinite time, and the limited time quick response requirement of a time-sensitive task cannot be met. Disclosure of Invention The invention provides an underactuated ship limited time formation control method based on a historical data trigger mechanism, which aims to overcome the technical problems. In order to achieve the above object, the technical scheme of the present invention is as follows: an under-actuated ship limited time formation control method based on a historical data trigger mechanism specifically comprises the following steps: s1, acquiring an under-actuated ship model for establishing a leading ship and a following ship in ship formation; S2, establishing a pilot-following ship formation reference position vector, defining formation tracking errors based on a preset expected path and an under-actuated ship model, and constructing a ship formation virtual control law by introducing a power nonlinear feedback item according to the formation tracking errors so as to ensure that the formation tracking errors are quickly converged to a preset bounded area within a preset limited time; S3, introducing a first-order nonlinear filter to filter the virtual control law to obtain a filtered signal; acquiring an error dynamic equation containing an unknown function term according to the filtered signal and the under-actuated ship model; Adopting a radial basis function neural network to perform approximation processing on unknown function items in the error dynamic equation to obtain an optimized error dynamic equation; s4, constructing an information-guided dynamic event triggering mechanism based on historical triggering data based on the combination of an optimization error dynamic equation and formation tracking errors; And S5, constructing a formation cooperative control law and a parameter updating law according to the optimization error dynamic equation, and combining the formation cooperative control law and the parameter updating law by using the dynamic event triggering mechanism based on information guidance to realize under-actuated ship finite time formation control based on the historical data triggering mechanism. Further, the under-actuated ship model in S1 is: , Wherein: representing the position coordinates of the underactuated ship; represent