The study on glider group cooperative control based on Newton mechanical integration

WANG Guikai; MA Chunyong; GAO Zhanwen; ZHANG Shengsheng; CHEN Ge

doi:10.3969/j.issn.1001-909X.2021.01.004

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Journal of Marine Sciences ›› 2021, Vol. 39 ›› Issue (1) : 29-37. DOI: 10.3969/j.issn.1001-909X.2021.01.004

The study on glider group cooperative control based on Newton mechanical integration

WANG Guikai¹, MA Chunyong^*1,2, GAO Zhanwen¹, ZHANG Shengsheng¹, CHEN Ge^1,2

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Abstract

The underwater glider is an important platform for unmanned motion observation of the ocean. However, it is difficult to maintain the preset net array when multiple underwater gliders cooperate in observation.In this study, an underwater glider group cooperative control algorithm based on Newton mechanical integration was proposed to adjust the motion parameters of the glider group before entering the water according to its asynchronous entering and leaving the water.Based on the force analysis of the underwater glider, the motion state of the underwater glider in the ocean was restored by Newton mechanics integral. The cooperative control algorithm of the underwater glider group was used to constrain the motion of several underwater gliders at the same time, and the simulation experiment was carried out. The results of experiment show that the algorithm can keep the preset net array of multiple underwater gliders well, so that the target sea area can be observed cooperatively.

Key words

underwater glider / Newton mechanical integration / cooperative network

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WANG Guikai, MA Chunyong, GAO Zhanwen, ZHANG Shengsheng, CHEN Ge. The study on glider group cooperative control based on Newton mechanical integration[J]. Journal of Marine Sciences. 2021, 39(1): 29-37 https://doi.org/10.3969/j.issn.1001-909X.2021.01.004

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