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Two-dimension track tracking controller of underwater robot

A technology for underwater robots and tracking controllers, which is applied in two-dimensional position/channel control and other directions, and can solve problems such as lack of self-adaptive functions and difficulty in accurately navigating according to trajectories.

Inactive Publication Date: 2016-01-13
TIANJIN POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, conventional controllers do not have adaptive functions, and it is difficult to achieve precise navigation based on trajectories.

Method used

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  • Two-dimension track tracking controller of underwater robot
  • Two-dimension track tracking controller of underwater robot
  • Two-dimension track tracking controller of underwater robot

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Experimental program
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Embodiment Construction

[0008] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0009] The specific process is as follows:

[0010] 1 Establishment of underwater robot dynamic model

[0011] According to the Newton-Euler equation of motion of a rigid body in a fluid, the dynamic model of the 6 degrees of freedom of the underwater robot in the motion coordinate system can be described as

[0012] M v + C ( v ) v + D ( v ) + g ( η ) =...

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Abstract

The invention belongs to the object tracking control field, and discloses a two-dimension track tracking controller of the underwater robot. The two-dimension track tracking controller is realized through steps of utilizing a least square method to perform modeling on a movement track under a motion coordinate system, designing a self-adapting wide domain prediction control two-dimension track accuracy tracking controller of the underwater self-adapting robot on the basis of that, and realizing the two-dimension track tracking control of the underwater robot. The invention is applicable to the object tracking and identification.

Description

technical field [0001] The invention belongs to the field of target tracking control and relates to the design of a two-dimensional trajectory tracking controller of an underwater robot using the least square method and adaptive wide-area predictive control technology. Background technique [0002] In recent years, with the continuous development of science and technology, in some industries, robots have gradually replaced humans to complete some more tedious, complicated and dangerous tasks. Among them, because of human exploration of deep-sea activities, underwater tracking of underwater robots has attracted more and more people's attention. In addition, it is also used to detect the environment, collect data including ocean currents and underwater biological activities, and so on. As we all know, the underwater environment is harsh and dangerous, and the depth of human diving is limited, so underwater robots have become an important tool for scientific research and develo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 罗菁
Owner TIANJIN POLYTECHNIC UNIV
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