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Design method of tracking and observation controller for surface target rescue based on filter backstepping method

A technology of surface targets and design methods, used in adaptive control, general control systems, control/regulation systems, etc.

Active Publication Date: 2021-05-04
HARBIN ENG UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to propose a method for designing a water surface target rescue tracking observation controller based on filter backstepping method, so as to solve the problem of tracking control of water surface moving target rescue

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  • Design method of tracking and observation controller for surface target rescue based on filter backstepping method
  • Design method of tracking and observation controller for surface target rescue based on filter backstepping method
  • Design method of tracking and observation controller for surface target rescue based on filter backstepping method

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specific Embodiment approach

[0102] The specific implementation of the design of the surface target rescue tracking observation controller based on filter backstepping method is as follows:

[0103] Step 1: Rescue tracking guidance law design

[0104] The most basic idea of ​​the principle of constant heading guidance is to add a relative velocity vector in the direction of the line between the rescue ship and the target ship, so that the relative position between the two gradually tends to zero. The target ship, reference ship, virtual ship and rescue ship are respectively defined according to the research object, where the reference ship represents the expected pose of the rescue ship when the target is tracked. For the convenience of description, the subscripts t, r, v and f are used to represent, such as η t =[x t ,y t ,ψ t ] T and υ t =[u t ,v t ,r t ] T Indicates information such as the position and speed of the target ship. The position information of the target ship in the northeast coo...

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Abstract

The invention discloses a method for designing a water surface target rescue tracking observation controller based on filter backstepping method, which relates to the field of water surface target rescue tracking control. In order to solve the problem of tracking control of water surface moving target rescue. Obtain the expected position and expected speed of the rescue ship according to the guidance law; design the state observer of the rescue ship, use it to filter out the oscillating motion of the rescue ship in all directions under the fourth-level sea state, and retain the translation of the rescue ship under the fourth-level sea state Motion; design an observational controller based on the backstepping method, and choose the Lyapunov function to prove the stability of the observational controller; use a second-order filter to filter the virtual control variables in the obtained observational controller to avoid backstepping design The observational controller of the paper derivates the virtual control variable several times; the filter compensation system is constructed to eliminate the deviation of the input and output signals of the second-order filter, and the observational controller based on the filtering backstepping method is designed. The invention is aimed at tracking and controlling the wrecked submarine on the water surface, and has high precision and strong robustness.

Description

technical field [0001] The invention relates to the technical field of surface target rescue tracking control, in particular to a design method for a water surface target rescue tracking observation controller. Background technique [0002] When the wrecked submarine loses power due to an accident on the sea surface, it will float and move with wind, waves, currents and other environmental factors. In order to ensure the safety of the submarine personnel and property, it is necessary to rescue it in time. The rescue ship needs to approach, track and maintain precise relative attitude control with the wrecked target boat, so as to carry out effective rescue operations. When in the fourth sea state, the rescue ship and the wrecked boat will be affected by the disturbance of the ocean environment, and there will be relatively obvious relative motion, which makes the rescue operation quite difficult and dangerous. Therefore, it is very important to study the surface target rescu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王宏健李村王莹陈兴华邵兴超刘建旭
Owner HARBIN ENG UNIV
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