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

Underwater robot trajectory tracking backstepping control method

A technology of underwater robot and backstep control, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of poor practicability and achieve the effect of good practicability and high stability

Inactive Publication Date: 2018-03-16
NORTHWESTERN POLYTECHNICAL UNIV +1
View PDF11 Cites 10 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 track tracking backstepping control method for underwater robots

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
  • Underwater robot trajectory tracking backstepping control method
  • Underwater robot trajectory tracking backstepping control method
  • Underwater robot trajectory tracking backstepping control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0032] refer to figure 1 . The specific steps of the underwater robot trajectory tracking backstepping control method of the present invention are as follows:

[0033] Step 1. The six-degree-of-freedom motion equation based on the body coordinate system of the underwater robot:

[0034]

[0035] where M is a generalized mass positive definite matrix, is the position and yaw angle of the underwater robot, v=[u r v r r] is the generalized water velocity, u r v r r are longitudinal, transverse and lateral velocity and yaw rate, respectively, is the yaw angle, C(v) is the oblique symmetric matrix of the generalized drag coefficient, D(v) is the hydrodynamic parameter, τ c is the control torque vector; the values ​​of each matrix and parameters are as follows:

[0036]

[0037] where m 11 =47.5,m 22 =94.1,m 33 =13.6,m 23 =m 32 =5.2, d 11 =13.5, d 22 =50.2, d 33 =27.2,d 23 =41.4, m 32 = 17.3.

[0038] Step 2. First define the tracking error of the gen...

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 trajectory tracking backstepping control method, and is used for solving the technical problem of poor practicality of the present underwater robot controlmethod. According to the technical scheme, firstly the tracking error of generalized coordinates is defined and then the generalized velocity error is defined based on the six-degree-of-freedom kinematic equation (which is expressed in the specification) of an underwater robot body coordinate system, the first Lyapunov function and the second Lyapunov function are selected and the control law is selected so that underwater robot control can be realized. The Lyapunov function is adopted so that the control stability is high, the position error and the angle error tend to be zero and thus the practicality is great.

Description

technical field [0001] The invention relates to a control method for an underwater robot, in particular to a track tracking backstepping control method for an underwater robot. Background technique [0002] ROV (Remote Controlled Underwater Robot) can be well qualified for high-intensity and long-duration underwater tasks, with convenient operation and high efficiency. However, the trajectory tracking control of underwater robots mostly uses PID control algorithms. And it has nothing to do with the model parameters. Compared with some algorithms designed based on model parameters, there are still some gaps in the control effect. [0003] The document "Application of Fuzzy PID Control in Motion Control of Underwater Robots" (Shen Wei, Harbin Engineering University, 2005) designed a method of fuzzy PID control in motion control of underwater robots. In the motion control part of this method, a Mamdani-type conventional fuzzy controller is firstly designed, and then two high-p...

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 Applications(China)
IPC IPC(8): G05B13/04G05D1/10G05D1/12
CPCG05B13/04G05D1/10G05D1/12
Inventor 袁源许斌陈杰凡永华韩毅
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