UUV trajectory tracking control method for preventing differential explosion

A trajectory tracking, differential explosion technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of actuator input saturation, complex controller design, affecting control accuracy, etc.

Active Publication Date: 2017-08-08
HARBIN ENG UNIV
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Problems solved by technology

However, after the introduction of intermediate virtual control variables, the derivative operation will make the controller design very complicated, affect the control accuracy, and even cause the input saturation problem of the actuator

Method used

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  • UUV trajectory tracking control method for preventing differential explosion
  • UUV trajectory tracking control method for preventing differential explosion
  • UUV trajectory tracking control method for preventing differential explosion

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Embodiment Construction

[0068] The following examples describe the UUV trajectory tracking control method of the present invention to avoid differential explosion in detail:

[0069] In step 1, the UUV assigns the desired trajectory position information to the UUV according to the current task, and collects data through the navigation equipment and sensors on board to obtain the current position X(t)=[x(t),y(t),z (t)] T Information, attitude [θ(t),ψ(t)] T Information, speed V(t)=[u(t),v(t),ω(t),q(t),r(t)] T information.

[0070] Then UUV obtains the initial position X(t)=[x(t),y(t),z(t)] in the ground coordinate system T , UUV initial heading angle ψ(t), pitch angle θ(t), UUV initial longitudinal velocity u r (t), lateral velocity v r (t) and the yaw angular velocity r(t), and given the desired trajectory position X d (t)=[x d (t),y d (t),z d (t)] T .

[0071] In step 2, the information in step 1 is used to calculate the position error between the actual trajectory and the expected trajectory and the expect...

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Abstract

The invention provides a UUV trajectory tracking control method for preventing the differential explosion based on the differential output characteristics of a biological instructive model. The method comprises the following steps of 1, conducting the initialization; 2, obtaining position and attitude error variables based on an under-actuated UUV mathematical model; 3, calculating a virtual control law, and replacing a virtual expectancy control law with the output value of the biological instructive model; 4, constructing a Lyapunov function, and transferring the ballast of a position error to the ballast of a speed error, avoiding the differential explosion phenomenon through the real-time derivation of replacing a virtual control variable with the output of the biological instructive model, and realizing the ballast of the speed error; and 5, designing a trajectory tracking controller. According to the technical scheme of the invention, the differential explosion phenomenon caused by the repeated derivation of the traditional back-stepping method can be avoided, and the complexity of the controller is simplified. Meanwhile, in combination with the controller of the biological instructive model, the time constraint requirements of the thrust constraints and the under-actuated UUV trajectory tracking of a propeller on position, speed and attitude can be met.

Description

Technical field [0001] The invention relates to a control method of an under-actuated underwater unmanned vehicle, in particular to an under-actuated UUV space trajectory tracking backstep control method that avoids differential explosion. Background technique [0002] The space trajectory tracking control capability of the Unmanned Underwater Vehicle (UUV) is the guarantee for the realization of ocean exploration. On the one hand, the under-driving system studied can simplify the design of the UUV hardware system to a considerable extent; at the same time, when part of the auxiliary propulsion device of the fully-driven UUV fails, the UUV becomes an under-driving system, and the designed under-driving UUV trajectory The tracking control method can still guarantee the maximum completion of the task, which greatly improves the reliability of the full drive system. In summary, the research on under-driven UUV space trajectory tracking control method is very important. [0003] The ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/10
CPCG05B13/042G05D1/10
Inventor 何东旭周佳加叶丁绮赵俊鹏张耕实
Owner HARBIN ENG UNIV
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