Sliding mode-reverse step double loop trace tracking control method of underactuated unmanned surface vehicle

A trajectory tracking and control method technology, applied in non-electric variable control, two-dimensional position/course control, vehicle position/route/altitude control, etc.

Inactive Publication Date: 2018-07-24
HARBIN ENG UNIV
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Problems solved by technology

General control methods are d

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  • Sliding mode-reverse step double loop trace tracking control method of underactuated unmanned surface vehicle
  • Sliding mode-reverse step double loop trace tracking control method of underactuated unmanned surface vehicle
  • Sliding mode-reverse step double loop trace tracking control method of underactuated unmanned surface vehicle

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with the accompanying drawings.

[0068] Such as figure 1 Shown, the purpose of the present invention is realized by the following steps:

[0069] Step 1. Establish a three-degree-of-freedom mathematical model of the unmanned vehicle:

[0070] Study the space motion state of the unmanned boat, establish a fixed coordinate system and a hull coordinate system, and a three-degree-of-freedom motion mathematical model for the heading, surge, and sway of the unmanned boat.

[0071] Using the Lagrangian method to establish the USV six-degree-of-freedom dynamic model is as follows:

[0072]

[0073] M is a 3×3 inertial parameter matrix;

[0074] C(v) is a 3×3 Coriolis centripetal force matrix;

[0075] D(v) is a 3×3 damping parameter matrix, representing the damping of the fluid;

[0076] τ=[τ 1 τ 2 τ 3 ] is a 3×3 control input vector, which is the thrust in three directions of the ship, which are...

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Abstract

The invention discloses a method in a boat control field and especially relates to the sliding mode-reverse step double loop trace tracking control method of an underactuated unmanned surface vehicle.The method comprises the following steps of firstly, establishing a three-degree-of-freedom motion mathematical model of the heading, the surging and the swaying of the unmanned surface vehicle; then, through an integrated pose sensor, measuring the current position information of the unmanned surface vehicle, combining the real-time position and the reference trace of the unmanned surface vehicle, calculating an error under a boat body coordinate system; and then, designing a kinematic loop trace tracking controller based on a backstepping method, and designing a dynamic loop trace trackingcontroller based on a sliding mode control algorithm. Through a sliding mode-reverse step double loop trace tracking controller, the trace tracking control of the unmanned surface vehicle Is realized,the unmanned surface vehicle can track a linear trace, and the stability and accuracy of unmanned surface vehicle navigation can be increased.

Description

technical field [0001] The invention relates to a method in the field of ship control, in particular to a sliding mode-backstep double-loop trajectory tracking control method for an underactuated unmanned boat. Background technique [0002] An unmanned surface vehicle is a surface vessel that can be operated unmanned in a vast ocean environment. Because it does not require personnel to operate, it is often used to perform dangerous tasks. Compared with other manned boats, unmanned boats have a series of advantages such as more flexible maneuvering, better concealment, and wider activity areas. However, since the unmanned vehicle is unmanned and is an underactuated system lacking lateral propellers, its control problem in complex ocean environments is particularly important, and a good trajectory tracking controller is an important guarantee for the smooth execution of tasks by the unmanned vehicle . [0003] Aiming at the high nonlinearity and uncertainty of the motion mod...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05D1/0206
Inventor 王元慧李子宜丁福光佟海艳王成龙
Owner HARBIN ENG UNIV
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