A Preset Performance Control Method for Uncertain Underactuated Unmanned Vehicle System

Abstract

The invention discloses a preset performance control method for an uncertain under-actuated unmanned surface vehicle (USV) system. The preset performance control method specifically comprises the steps of establishing a USV dynamic model, including kinematics and dynamics models; processing tracking error constraints by proposing a preset performance control method; processing a virtual controllerby applying the dynamic surface control technology; learning the uncertain dynamics of the system online by using the neural network technology; and designing a tracking controller that meets the requirements by applying the Lyapunov stability theory. The preset performance control method of the invention can avoid the singular problem of controller design and can satisfy the pre-specified tracking error transient and steady state performance. The uncertain dynamics of the system are learned online by applying the adaptive neural network control technology and the controller is designed to complete the trajectory tracking control objective and the practicality of the control method is improved.

Description

technical field [0001] The invention belongs to the field of trajectory tracking control of unmanned boats, in particular to a preset performance control method of an uncertain underactuated unmanned boat system. Background technique [0002] An unmanned boat is a surface ship used in maritime search and rescue, marine resource exploration, scientific investigation, deep sea operations, etc. It can complete a series of tasks such as environmental detection according to preset trajectories and procedures. Especially for some harsh environments or dangerous sea areas, the use of unmanned boats can effectively guarantee the safety of personnel and meet the needs of actual engineering applications. At present, the most widely used unmanned boats are underactuated, which means that they only have propellers and rudders equipped for longitudinal and steering motions, but do not have actuators that directly control swaying motions. The design of the tracking control of the boat ha...

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Problems solved by technology

In addition, due to the complexity and variability of the marine environment, it is usually difficult to obtain an accurate mathematical model for the dynamic model of an unmanned vehicle, especially the accurate modeling of the nonlinear dynamics of hydrodynamic damping that is closely related to the external environment is extremely difficult. In addition, the influence of external wind, waves and ocean currents on the control system of unmanned boats is usually not negligible.

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