基于几何力学的水面无人艇艇群控制技术

Control technology of USV group base on geometry mechanics

本文介绍美国水面无人艇艇群技术发展现状提出水面无人艇艇群系统发展需求,分析基于几何力学的水面无人艇艇群控制总体架构与方法。该方法具有无坐标选取的奇异性、可利用对称性进行约化降维等优势,有效降低复杂刚体运动系统维度,解决了面向多节点、复杂不确定干扰环境的水面无人艇艇群的复杂非线性系统控制问题,对水面无人艇艇群协同控制技术研究和发展具有一定借鉴和参考意义。

In this paper,puts forward the USV group of system development needs and American USV group technology development present situation,analyses USV group control overall architecture and method base on the geometric mechanics,this method has no coordinate selection of singularity,use symmetry on the advantages of the reduced dimension reduction,effectively reduce the dimension of complex rigid oriented USV group of complex nonlinear system control problem,for USV group of coordinated control technology research and development has a certain reference significance.