Active disturbance rejection controlling method of attitude and track of neutral buoyancy robot

Abstract

The invention discloses an active disturbance rejection controlling method of attitude and track of a neutral buoyancy robot. The method includes: converting a kinetic model of a neutral buoyancy robot system to a form of a tracking error system; arranging a transition process for an initial tracking error through a tracking differentiator, and obtaining differential signals of tracking error signals; estimating a non-linear uncertainty item of the tracking error system in real time and compensating the item in a feedback controller formed by tracking error states through an extended state observer to avoid the adverse influence on the system by non-linear factors including internal and external interferences, improve the robustness of the system and perform accurate tracking and control of the attitude and the track; and processing the problem of actuator saturation in the system through a convex hull method, solving an attraction domain of the system, and obtaining a safety motion range of the neutral buoyancy robot system. According to the control policy, a good control effect is achieved for the neutral buoyancy robot system with actuator saturation, and the method can be widely applied to other non-linear systems with actuator saturation.

Description

technical field [0001] The invention belongs to the field of servo control of ground simulated spacecraft in a microgravity environment, and relates to a self-disturbance rejection attitude and trajectory control method for a neutral buoyancy robot, in particular to a neutral buoyancy robot with actuator saturation in complex water. Attitude and trajectory active disturbance rejection control method in environment. Background technique [0002] Ground simulation and verification of space missions in microgravity environment is an important part of space research. Because neutral buoyancy can continuously provide a six-degree-of-freedom microgravity environment for a long time, domestic and foreign space agencies use it as a ground test method for simulating space movement, and it is used for training astronauts, docking and assembling space agencies, and non-cooperative targets crawling etc. However, due to the coupling between the control forces and the viscous resistance...

AI Technical Summary

Problems solved by technology

[0005] The technical solution of the present invention is: for the neutral buoyancy robot system, in order to overcome the lack of anti-interference ability of the existing technology in the underwater environment and the defect of the system performance reduction caused by the saturation of the actuator, the neutral buoyancy robot system is aligned according to the desired posture and motion trajectory. The buoyancy robot system model is transformed to obtain its tracking error system model. At the same time, considering the complex nonlinearity and actuator saturation in the system, the active disturbance rejection control technology is used to achieve accurate and fast attitude and trajectory control.

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