Under-actuated surface vehicle trajectory tracking control system based on self-adaptive fuzzy observer

Abstract

The invention discloses an under-actuated surface vehicle trajectory tracking control system based on a self-adaptive fuzzy observer. A sensor module collects position and course information y of a surface vehicle and outputs the position and course information y to the self-adaptive fuzzy observer; the self-adaptive fuzzy observer receives output of a controller, obtains position and heading estimation, speed estimation, slow varying disturbance force estimation and unknown nonlinear term estimation (please see the expressions in the specification) and respectively transmits the position and heading estimation, the speed estimation, the slow varying disturbance force estimation and the unknown nonlinear term estimation to a trajectory tracking error generator and the controller; a guide system obtains expected speed and accelerated speed information in a hull coordinate system through calculation and respectively transmits the expected speed and accelerated speed information to the trajectory tracking error generator and the controller; the trajectory tracking error generator obtains error information of all states of trajectory tracking and transmits the error information to the controller; the controller calculates a longitudinal thrust and course changing torque control instruction of the current moment and transmits the control instruction to a thrust system, and the thrust system executes the control instruction. The under-actuated surface vehicle trajectory tracking control system can perform fast tracking under the conditions that only the position and the heading angle are measurable and a model has indeterminacy.

Description

technical field [0001] The invention belongs to a trajectory tracking control system of an underactuated surface boat, and in particular relates to a trajectory tracking control system of an underactuated surface boat based on a fuzzy adaptive observer when an accurate model of the system cannot be obtained and a sensor only provides position measurement. Background technique [0002] With the gradual deepening of human exploration of the ocean, research related to the maritime shipping industry is in a vigorous development stage, and research in the field of ship motion control has attracted much attention from researchers. Underactuated surface craft refers to a type of ship whose dimension of control input vector space is smaller than its degree of freedom. [0003] At present, many scholars have conducted research on the trajectory tracking control of underactuated surface vehicles. The more classic methods are local linearization and decoupling of multivariate models, ...

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Problems solved by technology

However, there are omissions in the theoretical derivation process, and the above papers all have the same problem, that is, it is assumed that the full state informat

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