Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University >

2023 , Vol. 57 >Issue S1: 114 - 123

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2023.S1.25

USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer

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  • 1. Shanghai Marine Electronic Equipment Research Institute, Shanghai 201108, China
    2. Science and Technology on Underwater Acoustics Antagonizing Laboratory, Shanghai 201108, China
    3. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2023-05-14

  Revised date: 2023-06-14

  Accepted date: 2023-07-18

  Online published: 2023-08-07

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Abstract

Facing the three-dimensional, diverse, and complex underwater detection task, this paper proposed an unmanned surface vehicle-autonomous underwater vehicle (USV-AUV) cross-domain heterogeneous cooperative control strategy based on the leader-follower method. First, the control strategy takes into account the dynamic modeling error caused by factors such as unknown environmental disturbances, and designs a non-linear disturbance observer to estimate the influence. Then, the dynamic adaptive look-ahead distance is used to improve the LOS method, which can solve the formation control problem of underactuated vehicles. The USV-AUV formation control problem is rebuilt based on the cascaded system. The AUV following controller is designed through feedback linearization. Finally, the whole system is improved uniformly, globally, and asymptoticly stable by the Lyapunov theory. The USV-AUV lake test verifies the effectiveness of the formation control strategy.

Key words： unmanned surface vehicle (USV); autonomous underwater vehicle (AUV); cooperative control; nonlinear disturbance observer

Cite this article

YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei . USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer[J]. Journal of Shanghai Jiaotong University, 2023 , 57(S1) : 114 -123 . DOI: 10.16183/j.cnki.jsjtu.2023.S1.25

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