Double-unmanned-ship cooperative control method suitable for same-direction real-time point tracking

The invention provides a double-unmanned-ship cooperative control method suitable for same-direction point tracking, and the method comprises the steps: building a navigation-following unmanned ship position cooperative formation control model, and setting an expected longitudinal distance and an expected azimuth angle; based on the formation cooperative control model and the real-time position of the pilot ship, a cooperative dynamic equation of the distance and the azimuth angle is established for the following ship; based on the collaborative dynamic equation, considering the constraint of the propeller, introducing an obstacle Lyapunov function, and deducing the real-time expected speed and yaw angle of the following ship; a nonlinear disturbance observer is used for observing the set disturbance of the following ship; in order to enable a pilot ship to keep an expected distance and an azimuth angle under environmental disturbance of a following ship, a deep reinforcement learning double Deep Q-Network (D