A hierarchical control method based on control obstacle function was proposed,and a distrib-uted guidance law was designed at the guidance layer to realize the encirclement control of moving tar-gets only by the information of neighboring boats.The control obstacle function was introduced to en-sure that two adjacent boats were always in the communication range while avoiding static obstacles.Considering the disturbance of unknown environment,model uncertainty and chattering caused by tra-ditional sliding mode controller,an adaptive neural sliding mode control law was designed at the con-trol layer based on the approximation characteristics of compound orthogonal neural network and a-daptive sliding mode reaching law to accurately track the guidance signal given by distributed guidance law.The stability of the closed-loop control system was proved based on Lyapunov function,and the simulation results show that the proposed control method can effectively improve the success rate of multi-unmanned boats in the obstacle environment and make the control output smoother.
维普
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