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Underwater carrier terminal sliding-mode control method based on time delay estimation

A technology of underwater vehicle and terminal sliding mode, which is applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2016-11-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] The purpose of the present invention is to provide a control method with better control quality and easier engineering application for the deficiencies of the existing underwater vehicle joint space trajectory tracking control algorithm

Method used

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  • Underwater carrier terminal sliding-mode control method based on time delay estimation
  • Underwater carrier terminal sliding-mode control method based on time delay estimation
  • Underwater carrier terminal sliding-mode control method based on time delay estimation

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Embodiment Construction

[0042] The present invention is further elaborated below in conjunction with accompanying drawing, and following examples are only used to describe the present invention and are not intended to limit the scope of use of the present invention, and various equivalent transformations of the present invention by engineers and technicians in various fields are all included in the scope of rights required by the present invention Inside. The specific implementation steps are as follows:

[0043] The invention discloses a terminal sliding mode control method of an underwater vehicle based on time delay estimation, which is used to control a four-degree-of-freedom underwater vehicle, comprising the following steps:

[0044] (1) Establish the kinematic equation of the underwater vehicle:

[0045] η · = J ( η ) v

[0046] where η=[x y zψ] T is the position and ori...

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Abstract

The invention discloses an underwater carrier terminal sliding-mode control method based on time delay estimation. According to the method, the lump uncertainty of a closed-ring control system of an underwater carrier is estimated by adopting the time delay estimation technology, so that the whole control algorithm is independent of a system model; and on the basis, a quick non-singular terminal sliding mode hyperplane is combined with a quick terminal sliding mode reaching law to deduct a time delay estimation-based underwater carrier continuous quick non-singular terminal sliding mode trajectory tracking control method. The method is independent of system model, is easy for engineering application, can ensure relatively high control accuracy and rapid system response, and is applicable to underwater carrier trajectory tracking control under complicated work conditions.

Description

technical field [0001] The invention belongs to the research field of kinematics, dynamics and control of robot systems, in particular to a trajectory tracking control method of a class of underwater vehicles, which is mainly oriented to the application requirements of real-time control of robot systems. Background technique [0002] Underwater vehicle, the English name is Underwater Vehicle, referred to as UV, which is a commonly used and effective equipment for underwater operations at this stage, especially for deep-sea operations that are difficult for divers to reach. It can effectively replace divers to achieve large-scale continuous operations in deep sea . UV has greatly expanded the ability of human beings to explore marine science and develop marine resources. Therefore, the research on UV has received great attention from academia and industry. [0003] In order to improve the efficiency and precision of UV operations, the research on its related trajectory trac...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王尧尧陈柏吴洪涛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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