UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and control method

Abstract

The invention discloses an UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and a control method. The system comprises a first differentiator, a second differentiator, an adaptive anti-interference sliding mode controller, a filter and data fusion unit, a Doppler sensor, an electric gyrocompass, a thrust allocation unit, an UUV, an accelerometer and a gyroscope , wherein the adaptive anti-interference sliding mode controller comprises a sliding mode controller, an adaptive disturbance compensation controller and a data processing unit; the sliding mode controller is used for realizing UUV four degree-of-freedom dynamic positioning variable structure control and eliminating pose errors; and the adaptive disturbance compensation controller is used for estimating uncertainty errors of an actually controlled object model and wave disturbance effects in an online mode. A dynamic process during which the system state approaches to the sliding mode surface is improved, steady-state anti-interference performance is improved, and compared with a common sliding mode control method, dynamic performance is better, and buffet of the system under disturbance effects can be reduced.

Description

technical field [0001] The invention belongs to the field of UUV automatic control, and in particular relates to a UUV four-degree-of-freedom dynamic positioning adaptive anti-disturbance sliding mode control system and a control method that can combine sliding mode control and adaptive control. Background technique [0002] With the development of underwater unmanned vehicle technology, the functions of underwater unmanned vehicle (UUV) are becoming more and more powerful. When the UUV is operating near the water surface, its main body is required to maintain a certain position and attitude stably, so as to provide a relatively stable position and attitude basis for ensuring the normal operation of the mission module. However, due to the complex and changeable marine environment, waves and currents produce uncertain disturbances on the UUV operating near the water surface, and the UUV dynamic model has strong coupling and nonlinearity, the dynamic positioning control of the...

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Problems solved by technology

However, the design process of the observer is complex and highly dependent on the model, and the estimation accuracy of the observer for a system with a large model uncertainty is not high

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