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

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

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

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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

1. School of Information Science and Engineering, Ocean University of China, Qingdao 266100, China;
2. Functional Laboratory of Regional Marine Dynamics and Numerical Simulation, Qingdao NationalLaboratory of Marine Science and Technology, Qingdao 266237, China

Received:2020-05-09 Online:2021-03-15 Published:2021-03-15

Abstract

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

CLC Number:

P715.5

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.

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

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