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

A sliding mode control method for underwater robot based on extended state observer

An underwater robot and expansion state technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of robot control torque discontinuity, increase system energy consumption, destroy system accuracy, etc., to achieve Ease of engineering implementation, lower gain, and better control performance

Active Publication Date: 2020-04-14
NORTHWESTERN POLYTECHNICAL UNIV
View PDF3 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, on the one hand, the high-frequency jitter in general sliding mode control not only destroys the accuracy of the system, but also increases the energy consumption of the system.
On the other hand, the discontinuity of the control law will also lead to the discontinuity of the robot's control torque, which will affect the system performance.

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
  • A sliding mode control method for underwater robot based on extended state observer
  • A sliding mode control method for underwater robot based on extended state observer
  • A sliding mode control method for underwater robot based on extended state observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0030] The present invention provides a sliding mode control method for underwater robots based on extended state observers, such as figure 1 shown, including the following steps:

[0031] Step S1, establishing the dynamics model and kinematics model of the underwater robot in the inertial coordinate system, respectively:

[0032]

[0033]

[0034] where M RB Denotes the body inertia matrix, denote C RB Body Coriolis force matrix, M AM Indicates the inertia matrix of the water flow medium related to the body, C AM Represents the Coriolis force matrix of the water flow medium related to the body, D r (v r (t))v(t) is viscous drag, g(η(t)) is negative buoyancy, τ c (t) is the control torque, J(η(t)) is the Jacobian matrix, η(t), v(t) and v r (t)=v(t)-v c (t) are the position of the body in the body coordin...

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 a sliding mode control method for an underwater robot based on an expansion state observer. Firstly, an underwater robot system model in an inertial coordinate system is established and is a motion equation in an inertial system. Then a third-order expansion state is designed for the underwater robot, and the parameters of the expansion state observer are given by solving alinear matrix inequality, and then a continuous terminal sliding mode controller is designed to control the underwater robot. The method has strong robustness, higher control precision and a faster corresponding speed can be obtained, and the engineering implementation is facilitated.

Description

technical field [0001] The invention belongs to an underwater robot control method, and relates to an underwater robot sliding mode control method based on an expansion state observer. Background technique [0002] Due to the rapid development of space technology, as a necessary step to verify ground space technology, microgravity simulation technology has attracted more and more attention at home and abroad; underwater robots provide a stable microgravity environment for simulating mechanical equipment in space In the environment, the coupling between the structures of the six-degree-of-freedom underwater robot is very strong, and the nonlinearity of the model is also high; in addition, due to the influence of external disturbances such as water flow velocity and water flow viscous resistance, control It is more difficult. [0003] Most of the current control strategies for underwater robots can only obtain asymptotically stable results, and their robustness is poor. For t...

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
CPCG05B13/042
Inventor 袁源王英杰袁建平
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