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Trajectory tracking method for under-actuated unpiloted ship controlled based on limited backstepping method

A trajectory tracking and unmanned ship technology, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problem of parameter uncertainty, achieve good suppression, and solve the problem of output constraints Effect

Inactive Publication Date: 2018-11-16
BEIHANG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention "an underactuated unmanned ship trajectory tracking method based on restricted backstepping control" considers the above problems, and proposes a reliable solution to unmanned ship trajectory tracking under uncertain parameters, output constraints, and external interference control theory of the problem

Method used

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  • Trajectory tracking method for under-actuated unpiloted ship controlled based on limited backstepping method
  • Trajectory tracking method for under-actuated unpiloted ship controlled based on limited backstepping method
  • Trajectory tracking method for under-actuated unpiloted ship controlled based on limited backstepping method

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Embodiment Construction

[0078] Below each part design method in the present invention is further described:

[0079] The present invention "a trajectory tracking method for underactuated unmanned ships based on limited backstepping control", such as figure 2 As shown, the specific steps are as follows:

[0080] Step 1: Kinematics and dynamics model establishment

[0081] Establish the three-degree-of-freedom model of the unmanned ship in the inertial coordinate system, as shown in the attached figure 1 shown. o g x g the y g is an inertial coordinate system established on the earth, and the kinematics and dynamics equations of the unmanned ship in this coordinate system are

[0082]

[0083]

[0084] In the above equation, (x, y) represents the current position coordinates, ψ represents the current yaw angle of the unmanned ship, that is, the attitude variable, u is the forward speed, v is the lateral drift speed, and r is the yaw angular speed. is the system model parameter, which wil...

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Abstract

The invention discloses a trajectory tracking method for an under-actuated unpiloted ship controlled based on a limited backstepping method, and the method comprises the steps: (1), model building: building a three-freedom-degree kinetic and dynamic model of the under-actuated water surface unpiloted ship in an inertial coordinate system; (2), distance control design: giving an expected trajectory, calculating a position virtual control law through a position error, further deducing the actual input control law with the output constraint for controlling the longitudinal speed through the virtual control law, and carrying out the estimation and compensation of the external interference through a neural network, so as to reduce the distance difference between the unpiloted ship and a reference trajectory; (3), angle control design: calculating an angle error, calculating an angle virtual control law, further deducing the actual input control law with the output constraint for controllingyawing angular speed through the virtual control law, and carrying out the estimation and compensation of the external interference through the neural network, so as to reduce the angle difference between the unpiloted ship and the reference trajectory.

Description

technical field [0001] The invention provides an underactuated unmanned ship trajectory tracking method based on restricted backstepping control, which provides a new trajectory of the underactuated surface unmanned ship under the condition of considering parameter uncertainty, output constraints and unknown interference A tracking control method belongs to the technical field of unmanned ship automatic control. Background technique [0002] In recent years, there have been more and more researches and practical applications on the trajectory tracking control of unmanned ships. As a water tool capable of monitoring the sea environment and performing military combat missions, surface unmanned ships have received more and more attention. Especially in the future military, unmanned ships will become an important military means for intelligence collection, autonomous strikes and zero casualties. The main characteristics of unmanned ships are fast speed, small size, and autonom...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 郑泽伟阮林萍
Owner BEIHANG UNIV
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