High-accuracy nonlinear path tracking control method for under-actuated marine vehicle

A non-linear path and tracking control technology, which is applied in the control of finding targets, three-dimensional position/channel control, adaptive control, etc., can solve the problems of non-integrable acceleration, unsatisfactory, and inability to guarantee the accuracy of path tracking control

Active Publication Date: 2017-05-31
BEIHANG UNIV
View PDF5 Cites 33 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the influence of many factors such as weight, reliability, complexity, and efficiency, most of the current marine vehicles are underactuated systems, and they have a high degree of nonlinearity, coupling, and non-holonomic constraints of non-integrable acceleration. and other characteristics, which bring great chall...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • High-accuracy nonlinear path tracking control method for under-actuated marine vehicle
  • High-accuracy nonlinear path tracking control method for under-actuated marine vehicle
  • High-accuracy nonlinear path tracking control method for under-actuated marine vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0040] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0041] The invention provides an observer-based high-precision nonlinear path tracking control method to realize high-precision nonlinear path tracking of an underactuated ocean vehicle under the condition of multiple uncertainties.

[0042] like figure 1 As shown in , the definition of the ocean vehicle coordinate system and the schematic diagram of the path tracking in the horizontal plane. {I}, {B} and {SF} are inertial coordinate system, vehicle coordinate system and Serret-Frenet curve coordinate system respectively. The coordinate systems of {I} and {B} follow the standard specification, and the coordinate origin of {SF} is any point on the desired path, and its horizontal axis X F Along the path tangent direction, vertical axis Y F is the normal direction.

[0043] In the following, the path tracking control system in the horizon...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a high-accuracy nonlinear path tracking control method for an under-actuated marine vehicle. According to the method, the change rate of the sideslip angle of the vehicle is regarded as an uncertain item, the parameter uncertainty in a dynamic model, unmodeled dynamics and external environmental disturbances are regarded as lumped uncertainty, and an observer is adopted to conduct real-time observation on kinematic uncertainty and dynamic uncertainty; a traditional aspect-angle guiding method is adopted to calculate an expected aspect angle; a nonlinear path tracking controller based on the observer is designed, and the kinematic and dynamic uncertainty are compensated; a tracking differentiator is adopted to simplify the controller to make the controller more suitable for engineering application. According to the method, the influences of the parameter uncertainty in the dynamic model, the unmodeled dynamics and the external environmental disturbances on path tracking are eliminated, and the accurate tracking control over an expected path of the vehicle is achieved.

Description

technical field [0001] The invention relates to a path tracking control method for underactuated marine surface or underwater vehicles such as an autonomous underwater vehicle (AUV), an unmanned surface vehicle (Unmanned Surface Vehicle, USV), and particularly relates to a multi-uncertain A non-linear path-following control method for extreme cases. Background technique [0002] With the increasing application of surface or underwater autonomous vehicles in the field of marine research and development, its high-precision path-following control has become one of the current research hotspots. Path tracking refers to controlling the aircraft to track a desired trajectory that satisfies heading requirements and performance constraints and is independent of time. Due to the influence of many factors such as weight, reliability, complexity, and efficiency, most of the current marine vehicles are underactuated systems, and they have a high degree of nonlinearity, coupling, and no...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04G05D1/10G05D1/12
CPCG05B13/048G05D1/10G05D1/12
Inventor 王少萍苗建明李元王兴坚张超
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap