Underwater robot sliding mode control method based on adaptive backstepping

A technology of underwater robot and control method, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of poor practicability, achieve good practicability, realize high-precision tracking control, and improve robustness Effect

Inactive Publication Date: 2018-01-05
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Abstract
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Problems solved by technology

[0004] In order to overcome the shortcomings of poor practicability of existing underwater robot control methods, the present invention provides a sliding mode control method for underwater robots based on adaptive backstepping method

Method used

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  • Underwater robot sliding mode control method based on adaptive backstepping
  • Underwater robot sliding mode control method based on adaptive backstepping
  • Underwater robot sliding mode control method based on adaptive backstepping

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Embodiment Construction

[0038] refer to figure 1 . The concrete steps of the underwater robot sliding mode control method based on the self-adaptive backstepping method of the present invention are as follows:

[0039] Step 1. Consider the forward and heading dynamics model of the six-degree-of-freedom underwater robot:

[0040]

[0041] where m x and m ψ are forward inertia parameters and heading inertia parameters respectively, d L,x 、d L,ψ is the first-order forward damping parameter and the heading damping coefficient, d Q,x 、d Q,ψ is the second-order forward damping parameter and heading damping coefficient, τ x and τ ψ are forward thrust and heading thrust respectively, F u , F r are forward disturbance force and heading disturbance force; v x are the forward acceleration and forward velocity, v ψ are the heading acceleration and heading speed;

[0042] From the Handbook of Underwater Robots:

[0043] m x =236.53kg;

[0044] m ψ =30.04kg·m2 ;

[0045] d L,x =22.21N (m / ...

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Abstract

The invention discloses an underwater robot sliding mode control method based on adaptive backstepping in order to solve the technical problem that an existing underwater robot control method is poorin practicability. According to the technical scheme, the method comprises the steps that based on the decomposition of a complex nonlinear system, the controlling quantity of a total system is obtained by designing the virtual controlling quantity for a sub-system through the step-by-step recursion of a sliding mode; according to the buffeting problem caused when the system is not sure about theupper bound, and an RBF neural network is introduced into a controller so as to adoptively approach the internal indeterminacy and the external disturbance of the system. Finally, the control over thesystem buffeting is achieved, high-precision tracking control is achieved, the robustness of a closed-loop system is improved, the engineering requirements are met, and the practicability is high.

Description

technical field [0001] The invention relates to an underwater robot control method, in particular to an underwater robot sliding mode control method based on an adaptive backstepping method. Background technique [0002] Due to its special working environment and complex dynamic structure, the control system of underwater robots is susceptible to external interference during the movement process, and there is a problem of inaccurate modeling, which poses a challenge to the accuracy and robustness of the controller. demanding. Many methods such as optimal control, feedback linearization, adaptive control and sliding mode variable structure control have been applied in the control of underwater robots. Among them, since the sliding mode in sliding mode control can be designed according to the needs, and the sliding mode motion of the system has nothing to do with the parameter changes of the control object and the external disturbance of the system, the robustness and accurac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 袁源许斌陈杰凡永华李志
Owner NORTHWESTERN POLYTECHNICAL UNIV
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