UUV (unmanned underwater vehicle) trace tracking method based on dynamic sliding mode control

Abstract

The invention belongs to the technical field of trace tracking and dynamic sliding mode control of a UUV (unmanned underwater vehicle), and particularly relates to a UUV trace tracking method based on dynamic sliding mode control. The method comprises the following steps: building a UUV horizontal plane model; obtaining an error variable through coordinate transformation, and performing derivation on the error variable to obtain a derivative coefficient of the error variable; constructing a lyapunov function, and defining a virtual speed control variable to transform attitude tracking into virtual speed control; stabilizing the virtual speed control variable, adaptively estimating system parameter inaccuracy and external time-varying disturbance by a sliding mode control method, and constructing a sliding mode dynamic function; selecting a dynamic sliding mode control law to realize trace tracking of the UUV. By the combination of a backstepping method and an adaptive dynamic sliding mode control technology, the possible problems of modeling uncertainty and unknown environmental disturbance of UUV planar trace tracking and the problem of uncertain system parameters are solved.

Description

technical field [0001] The invention belongs to the technical field of trajectory tracking and dynamic sliding mode control of underwater unmanned vehicles, and in particular relates to a UUV trajectory tracking method based on dynamic sliding mode control. Background technique [0002] The precise trajectory tracking and control capability of underwater unmanned vehicle (UUV) is the technical basis for realizing underwater exploration, salvage, obstacle avoidance and other special operations tasks. However, UUV usually has the characteristics of underactuation, high nonlinearity and coupling, and non-holonomic constraints of non-integrable acceleration, especially the uncertainty of UUV hydrodynamic coefficients and external time-varying disturbances, which make UUV trajectory tracking control more difficult. accomplish. [0003] Trajectory tracking of UUV requires the control law to be able to guide the UUV while meeting the space time-varying trajectory tracking and velo...

AI Technical Summary

Problems solved by technology

Using the neural network online adaptive learning algorithm to construct the inverse dynamic model of UUV can realize its path tracking control under the interference of slow-changing ocean currents, but because the neural network adaptive learning process takes a certain amount of time, the real-time performance of the control system Affected, it can only overcome steady or slow-changing ocean current disturbances, and real-time trajectory tracking of UUVs cannot be realized

On the basis of the backstepping method, the trajectory tracking controller can be designed by using state feedback and parameter mapping technology, but because a large number of parameter estimation laws are involved, the online calculation is very large, and this mapping algorithm makes the expression of the designed control law comparatively complex

Images