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Trajectory tracking control method of full-state constraint for unmanned surface vehicle based on saturation compensation technology

A technology of trajectory tracking and control method, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, which can solve problems such as large control error and state constraint saturation.

Active Publication Date: 2021-03-09
HARBIN ENG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problem that the existing control method for the trajectory tracking control of the surface unmanned vehicle does not deal with the problems of state constraints and saturation, resulting in large control errors, the present invention proposes a fully automatic surface unmanned vehicle based on saturation compensation technology. State Constrained Trajectory Tracking Control Method

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  • Trajectory tracking control method of full-state constraint for unmanned surface vehicle based on saturation compensation technology
  • Trajectory tracking control method of full-state constraint for unmanned surface vehicle based on saturation compensation technology
  • Trajectory tracking control method of full-state constraint for unmanned surface vehicle based on saturation compensation technology

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specific Embodiment approach 1

[0033] Specific implementation mode one: the full-state constraint trajectory tracking control method of the surface unmanned vehicle based on the saturation compensation technology includes the following steps:

[0034] Before describing this embodiment, first define the relevant parameters:

[0035] n x , η y , η ψ ——The position component and heading of the target USV relative to the ground coordinate system;

[0036] v x ,ν y ,ν ψ ——the surge, sway and yaw speed of the target USV;

[0037] M——symmetric positive definite inertia matrix;

[0038] C(ν)——centripetal force and Coriolis force matrix;

[0039] D(ν)——damping matrix;

[0040] g(η)——restoring force caused by gravity, sea current and buoyancy;

[0041] H - unknown interference;

[0042] J(η)——the non-singular transformation matrix from the satellite coordinate system to the ground coordinate system;

[0043] τ——desired control input;

[0044] sat(τ)——actual control input;

[0045] Δτ—the difference betw...

specific Embodiment approach 2

[0158] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the specific process of establishing the dynamic model of the surface unmanned boat in the described step one is:

[0159] The coordinate origin o of the satellite coordinate system o-xy is located at the center of gravity of the surface unmanned boat, the x-axis points from the stern to the bow along the longitudinal axis, and the y-axis points to the port side; the coordinate origin O of the ground coordinate system O-XY is located at the mooring line At the connection with the mooring terminal, the X, Y axes and the x, y axes of the satellite coordinate system are in the same plane;

[0160] The dynamic model of the 3-DOF, multi-input and multi-output surface unmanned vehicle is as follows:

[0161]

[0162] in hollow Represents the field of real numbers; (η x , η y ) represents the position in the ground coordinate system, η ψ Indicates the heading angle in the ...

specific Embodiment approach 3

[0165] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that: the dynamics model of the surface unmanned boat established according to step one in the described step two, the specific process of designing the saturation compensation auxiliary system is:

[0166] The present invention uses an anti-saturation compensator to process the saturation function, and designs a saturation compensation auxiliary system:

[0167]

[0168] Where M is a symmetric positive definite inertia matrix, C 1 ,C 2 is a diagonal matrix whose diagonal elements are all constant numbers, ζ 1 ,ζ 2 is the output of the saturation compensation auxiliary system, J is the non-singular transformation matrix from the satellite coordinate system to the ground coordinate system, Δτ is the difference between the desired control input τ and the actual control input sat(τ);

[0169] The error variable z for the position 1 and the error variable z for the...

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Abstract

A full-state constrained trajectory tracking control method for an unmanned water surface vehicle based on saturation compensation technology. The invention relates to a full-state constrained trajectory tracking control method for an unmanned surface surface vehicle. The present invention solves the problem that the existing control method for track tracking control of the surface unmanned vehicle does not deal with the problems of state constraints and saturation, resulting in large control errors. The present invention comprises: 1. establishing the dynamic model of the surface unmanned boat; 2: designing the saturation compensation auxiliary system according to the dynamic model of the water surface unmanned boat established in step 1; 3: designing the saturation compensation auxiliary system according to step 2, Establish the saturation function of the control law of the surface unmanned vehicle; 4: Establish the closed-loop system of the surface unmanned vehicle; 5: Use the adaptive method to deal with external disturbances, and obtain the adaptive estimation error; 6: According to the adaptive estimation error obtained in step 5, Realize the full state constraint trajectory tracking control of the surface unmanned vehicle. The invention is used in the field of trajectory tracking control.

Description

technical field [0001] The invention relates to the field of trajectory tracking control, in particular to a control method for an unmanned surface boat. Background technique [0002] At present, people are paying more and more attention to ocean development, so marine survey and development tools such as surface unmanned ships, remote-controlled unmanned submersibles, and autonomous underwater submersibles are constantly being developed. Among them, as a multi-purpose, low-cost unmanned vehicle, the surface unmanned vehicle has broad application prospects in both military and civilian fields, so the research on the control of surface unmanned vehicles is of great significance. [0003] Nowadays, with the increasing emphasis on surface unmanned boats, there are already a variety of motion control methods for them, such as trajectory tracking control, path following control, stabilization control, and formation control (Liao Yulei. Research on nonlinear motion control methods...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 秦洪德孙延超李骋鹏曹金梦陈辉吴哲远邢森林
Owner HARBIN ENG UNIV
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