Underwater robot three-dimensional path tracking control method based on second-order filter
An underwater robot, second-order filter technology, applied in three-dimensional position/channel control and other directions
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[0080] SUMMARY OF THE INVENTION The specific implementation of the three-dimensional path tracking control method of an underwater robot based on the second-order filter is as follows:
[0081] 1. The figure shows the relationship between the state signal, virtual control value, filter signal and derivative value of the AUV system. The forward loop mainly obtains the filter signal and derivative signal of the virtual control through the second-order filter, and the filter error compensation is designed. The loop guarantees the tracking accuracy of the filter to the input signal.
[0082] 2. image 3 Schematic diagram of robot 3D path tracking, l k Is the desired path, {I}, {B} and {F} represent the fixed coordinate system, the robot carrier coordinate system and the Serret-Frenet coordinate system, respectively; point P is the desired path l k On the virtual guide, point Q represents the position of the center of mass of the robot, for a given desired path l k for To determine the...
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