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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

Active Publication Date: 2014-02-12
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there is no relevant literature discussing the design of filter-based 3D path-tracking control for underwater vehicles.

Method used

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  • Underwater robot three-dimensional path tracking control method based on second-order filter
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  • Underwater robot three-dimensional path tracking control method based on second-order filter

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Embodiment Construction

[0080] The specific implementation of the three-dimensional path tracking control method of the underwater robot based on the second-order filter is as follows:

[0081] 1. The figure shows the state signal of the AUV system, the relationship between the virtual control quantity and the filter signal and its derivative value. 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 ensures the tracking accuracy of the filter to the input signal.

[0082] 2. image 3 is a schematic diagram of the three-dimensional path tracking of the robot, l k is the expected 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 expected path l k The virtual guide on , point Q represents the position of the center of mass of the robot, for a given desired ...

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Abstract

The invention provides an underwater robot three-dimensional path tracking control method based on a second-order filter. Underwater robot three-dimensional path tracking control is carried out by means of a filtering back-stepping method, the second-order filter established on the basis of two underwater robot three-dimensional path tracking kinematics error models is brought in to obtain virtual controlling quantity of postures, virtual controlling quantity of speed and virtual controlling quantity of angular speed and derivatives of the postures, derivatives of the speed and derivatives of the angular speed, then an underwater robot kinetic model is combined, control input of a path tracking controller is obtained and acts on a robot propeller and a steering engine, and therefore tracking of a three-dimensional path is achieved; according to the Lyapunov energy function, filtering feedback compensation items are designed for location and posture control loops, an integration element is led in a speed control loop, a system error compensation loop is constituted, and precision of a tracking system is promoted.

Description

technical field [0001] The invention relates to a motion control method of an underwater robot, in particular to a three-dimensional path tracking control method for an underwater robot based on a second-order filter. Background technique [0002] The tracking control of underwater robots has always been a research hotspot at home and abroad. The path tracking problem only requires the trajectory of the underwater robot to converge to the desired path, but does not require when and where it will arrive. By introducing the concept of virtual guide points on the desired path, the path tracking technology avoids the problem that the dynamic model of the underwater robot is disturbed by the environment, and the desired state cannot be accurately obtained during trajectory tracking, resulting in poor performance of the tracking control system. Compared with the trajectory tracking problem, the path tracking is not easy to cause the controller to output a saturated signal because...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 王宏健陈子印边信黔李娟严浙平陈兴华
Owner HARBIN ENG UNIV
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