A Depth Adaptive Global Sliding Mode Control Method for Underactuated Uuv with Uncertain Time-varying Delay

A time-varying time-delay, control method technology, applied in altitude or depth control, non-electric variable control, vehicle position/route/altitude control, etc., can solve the problem of lack of practicability, controller failure, and no consideration of system time delay And other issues

Active Publication Date: 2019-03-05
HARBIN ENG UNIV
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Problems solved by technology

However, the above UUV depth control does not consider the system time lag
Bi Fengyang et al. in the literature "Fuzzy variable structure control of model uncertain time-delay under-driven AUV" (Harbin Institute of Technology, 2010, Vol. 42 No. 3) for AUV with time-varying hydrodynamic coefficient, unmodeled dynamics and time-delay, etc. Uncertainty, with the input of the sliding mode surface and its rate of change of the fuzzy controller, the rate of change of the control law of the sliding mode variable structure is the output, the design of the fuzzy sliding mode controller, and the comparison with the simulation of the quasi-sliding mode controller proves that the The robustness of the controller, however, this paper does not consider the time lag when modeling, but only overcomes the time lag of the system through the robustness of the controller. This method is applicable to the case where there is a small time lag in the AUV system , once the time lag of the system is slightly larger, the controller will fail
Yuesheng Luo et al. "Resilient guaranteed cost diving depth control for nonlinear singular time-delay AUV system" (2010Second International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2010) established an AUV depth control system for the nonlinear constant time delay of the AUV system A mathematical model with time delay, and an elastic guaranteed energy controller based on the linear matrix inequality, which ensures the stability of the system, but in the actual UUV operation, the time delay of the system is not fixed, but changes with time. changes, so the method is not practical
[0004] The "underactuated UUV vertical plane control method based on T-S fuzzy time-delay model" disclosed in the patent document with application number 201610118633.1 proposes a state feedback controller based on the T-S fuzzy time-delay model, and also only considers the constant time-delay existing in the system problem, lack of practicality

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  • A Depth Adaptive Global Sliding Mode Control Method for Underactuated Uuv with Uncertain Time-varying Delay
  • A Depth Adaptive Global Sliding Mode Control Method for Underactuated Uuv with Uncertain Time-varying Delay
  • A Depth Adaptive Global Sliding Mode Control Method for Underactuated Uuv with Uncertain Time-varying Delay

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specific Embodiment approach 1

[0035] Specific implementation mode 1: The process of an underactuated UUV depth adaptive global sliding mode control method with uncertain time-varying delay described in this implementation mode is as follows figure 1 The UUV depth control flow chart in the middle is shown as follows:

[0036] Step 1. Detect the current depth z and the UUV’s own data information (pitch angle θ, pitch angular velocity q), and at the same time, according to the current task, the expected depth information z r Down to UUV, get the current state information x=(z e θq) T , where z e is the depth difference, that is, z e =z r -z;

[0037] Step 2, using the current UUV state information x=(z obtained in step 1 e θq) T , the T-S fuzzy time-varying time-delay mathematical model of the underactuated unmanned underwater vehicle UUV;

[0038] According to the external ocean current environment disturbance and system uncertainties, a global sliding mode controller model based on feedback gain i...

specific Embodiment approach 2

[0054] Specific embodiment 2: This embodiment further describes in detail a kind of underactuated UUV depth self-adaptive global sliding mode control method with uncertain time-varying delay described in specific embodiment 1 in conjunction with the accompanying drawings:

[0055] In step two, the process of establishing the mathematical model of the underactuated underwater unmanned vehicle UUV is:

[0056] In the process of UUV diving, the vertical velocity has little effect on its motion and can be ignored, and the influence of horizontal motion can be ignored at the same time, so as to obtain the following mathematical model of UUV vertical motion:

[0057]

[0058] in, f(x,t)=B 0 F(x,t) is the external environment interference and there is an unknown normal constant μ which satisfies ||f(x,t)||≤μ||x(t)||. Let x=(z e θq) T Have

[0059]

[0060] in, δ s To control the rudder angle of the horizontal rudder, I yy is the moment of inertia about the pitch angl...

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Abstract

The invention provides an indeterminate time-varying and time-lag adaptive global sliding-mode depth control method for under-actuated UUV. The method comprises the steps that 1) the UUV obtains preset state information and receives a depth instruction via a sensor of the UUV itself; 2) a time-varying and time-lag model and a global sliding-mode surface of the UUV are established via the above information and external environment interference information; and 3) based on the time-varying and time-lag model and the designed sliding-mode surface of the UUV, an adaptive global sliding-mode control rate is designed, and depth control for the UUV is realized. The method can ensure accurate depth control for the UUV in the conditions that time-varying and time-lag are indeterminate and external environmental interference exits.

Description

technical field [0001] The invention relates to a depth control method of an under-actuated underwater unmanned vehicle. Background technique [0002] Unmanned underwater vehicle (Unmanned Underwater Vehicle, UUV), with its super maneuverability, long-lasting endurance, comprehensive perception and adaptability to complex environments (such as autonomous navigation, fault diagnosis, etc.), has gradually become the An indispensable and powerful tool in the ocean development process. The precise control of UUV depth is the basic guarantee for the successful completion of tasks such as marine resource exploration and exploitation, seabed topography mapping, and marine environment monitoring. With the steady advancement of UUV intelligence, miniaturization, and functional diversification, the complexity of UUV control systems continues to increase, and the problem of time lag has become increasingly prominent, which makes the design of UUV depth controllers more complicated and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 张勋肖遥严浙平张宏瀚陈涛周佳加
Owner HARBIN ENG UNIV
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