High-precision nonlinear path-following control method for underactuated marine vehicles

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...

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 challenges to motion control

Especially when the underactuated vehicle has multiple uncertainties such as unmodeled dynamics, model parameter uncertainty, wind, wave and current, etc., traditional control methods often cannot guarantee the accuracy of path tracking control, and sometimes cannot even meet the needs of actual operations.

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