Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Sliding mode control method for underwater robot based on adaptive backstepping method

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

Inactive Publication Date: 2020-02-14
NORTHWESTERN POLYTECHNICAL UNIV +1
View PDF10 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

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
  • Sliding mode control method for underwater robot based on adaptive backstepping method
  • Sliding mode control method for underwater robot based on adaptive backstepping method
  • Sliding mode control method for underwater robot based on adaptive backstepping method

Examples

Experimental program
Comparison scheme
Effect test

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 / ...

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 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

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
Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 袁源许斌陈杰凡永华李志
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com