Input saturation-considered unmanned surface vehicle full-state constraint trajectory tracking control method

A trajectory tracking and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as state constraints and saturation problem processing, errors, etc.

Active Publication Date: 2018-12-28
HARBIN ENG UNIV
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  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the existing track tracking control method for the surface unmanned...

Method used

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  • Input saturation-considered unmanned surface vehicle full-state constraint trajectory tracking control method
  • Input saturation-considered unmanned surface vehicle full-state constraint trajectory tracking control method
  • Input saturation-considered unmanned surface vehicle full-state constraint trajectory tracking control method

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specific Embodiment approach 1

[0064] Considering input saturation, the full-state constraint trajectory tracking control method of unmanned surface vehicle includes the following steps;

[0065] Step 1. Establish the dynamic model of the surface unmanned vehicle:

[0066] 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 middle longitudinal axis, and the y-axis points to the port side; the coordinate origin O of the ground coordinate system O-XY is located in the system At the junction of the mooring line and the mooring terminal, the X, Y axes and the x, y axes of the body coordinate system are in the same plane;

[0067] The dynamic model of the 3-DOF, multi-input and multi-output surface unmanned vehicle is as follows:

[0068]

[0069] in hollow Represents the field of real numbers; (η x , η y ) represents the position in the ground coordinate system, η ψ Indi...

specific Embodiment approach 2

[0088] The process of estimating the upper bound of the control input difference according to the adaptive method described in Step 3 of this embodiment is as follows:

[0089] There is a difference Δτ between the desired control input τ and the actual control input sat(τ), expressed as:

[0090] Δτ=sat(τ)-τ (4)

[0091] For the control input saturation forms (3) and (4), there is a non-negative real number θ that satisfies the following conditions:

[0092] ||Δτ||≤θ (5)

[0093] Take μ=θ 2 , μ is the true value estimated adaptively, and the adaptive estimation error is and exists is an adaptive estimate;

[0094] Thus, the square of the upper bound of the control input difference θ is estimated according to the adaptive method;

[0095] And design the adaptive law corresponding to the upper bound of the control input difference:

[0096]

[0097] Among them, δ, β 0 are all constants greater than zero.

[0098] Other steps and parameters are the same as those i...

specific Embodiment approach 3

[0099] The process of estimating the unknown upper bound of interference according to the adaptive method described in Step 3 of this embodiment is as follows:

[0100] The unknown disturbance H is bounded, namely , there is a constant such that ||H||≤h m ;

[0101] Take κ=h m 2 , κ is the true value estimated adaptively, and the adaptive estimation error is and exists is an adaptive estimate;

[0102] Therefore, according to the adaptive method, the unknown interference upper bound h m make an estimate;

[0103] And design the adaptive law corresponding to the upper bound of the unknown interference:

[0104]

[0105] Among them, ε, γ 0 are all constants greater than zero.

[0106] Other steps and parameters are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses an input saturation-considered unmanned surface vehicle full-state constraint trajectory tracking control method, relates to an unmanned surface vehicle control method, and aims at solving the problem that existing unmanned surface vehicle trajectory tracking control-oriented control methods do not process state constraint and saturation problems. According to the method, akinetic model of a 3-degree of freedom and multiple-input-multiple-output unmanned surface vehicle; a saturated closed-loop system is established and a self-adaptive method is selected to estimate squares of unknown interference upper limits and control input difference upper limits; and self-adaptive laws are designed for unknown interferences and control inputs according to the self-adaptive method, and a controller is designed according to a pseudo-inverse condition so as to control the unmanned surface vehicle. The method is suitable for the control of unmanned surface vehicles.

Description

technical field [0001] The invention relates to the field of trajectory tracking control, in particular to a method for controlling an unmanned surface vehicle. Background technique [0002] Nowadays, the development of the ocean is getting more and more attention. As a highly feasible and widely used unmanned vehicle, the surface unmanned vehicle can perform various tasks such as monitoring of the marine environment and resource development, so it has a very high research value. value. At present, the commonly used control methods for surface unmanned vehicles include trajectory tracking control, path tracking control, stabilization control, and formation control. [0003] The trajectory tracking control method refers to setting the navigation route of the surface unmanned boat in advance, and controlling the surface unmanned boat to sail according to the trajectory. This method can effectively control the navigation of a single surface unmanned vehicle, but this method n...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 秦洪德孙延超李骋鹏李凌宇李晓佳汪向前
Owner HARBIN ENG UNIV
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