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Hurwitz-stability-based sliding mode stabilization control method for underactuated unmanned surface vehicle

A stabilization control, unmanned boat technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the underactuated characteristic, the control method is difficult to stabilize the control method of the unmanned boat, and does not meet the Brockett lemma conditions And other issues

Inactive Publication Date: 2019-01-01
HARBIN ENG UNIV
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  • Description
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  • Application Information

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Problems solved by technology

[0003] Conventional surface unmanned vehicles have no direct control input in the lateral direction, so they have underactuated characteristics and do not satisfy the Brockett lemma condition. The current non-holonomic system control method is difficult to be directly used to solve the stability control problem of unmanned vehicles
The existing unmanned vehicle stabilization controller based on diffeomorphism transformation and backstepping method has great limitations due to the neglect of environmental disturbance factors

Method used

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  • Hurwitz-stability-based sliding mode stabilization control method for underactuated unmanned surface vehicle
  • Hurwitz-stability-based sliding mode stabilization control method for underactuated unmanned surface vehicle
  • Hurwitz-stability-based sliding mode stabilization control method for underactuated unmanned surface vehicle

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Embodiment 1

[0054] The purpose of the present invention is to overcome the environmental interference problem and the controller convergence performance optimization problem in the stabilization control of the unmanned boat, and provides a sliding mode stabilization control method for the underactuated unmanned boat based on Hurwitz stability. The control method fully considers the environmental disturbance factors in the stabilization control of the unmanned vehicle, and designs the sliding mode parameters according to the Hurwitz stability condition to obtain a robust sliding mode controller with exponential convergence characteristics.

[0055] In order to achieve the above object, the present invention adopts the following technical solutions:

[0056] The first step is to establish the stability control error equation of the unmanned vehicle, including the establishment of the kinematics and dynamics model of the control object and the environmental disturbance model:

[0057]

[...

Embodiment 2

[0095] combined with figure 1 , a sliding mode stabilization control method for underactuated unmanned vehicles based on Hurwitz stability, the following steps are carried out:

[0096] Step 1, establishing the error equation of the unmanned vehicle stabilization control, including establishing the kinematics and dynamics model of the control object and the environmental disturbance model, and performing coordinate conversion to obtain the original stabilization control error equation:

[0097]

[0098]

[0099]

[0100]

[0101]

[0102]

[0103] The above formula is the three-degree-of-freedom kinematics and dynamics equation of the unmanned vehicle horizontal plane, where m 11 ,m 22 ,m 33 , d 11 , d 22 , d 33 is the hydrodynamic coefficient, η=[x,y,ψ] T Indicates the position and heading angle of the UAV in the geodetic coordinate system, υ=[u,v,r] T is the longitudinal velocity, lateral velocity and heading angular velocity of the unmanned boat, τ=...

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Abstract

The invention, which belongs to the technical field of unmanned surface vehicle stabilization control, discloses a Hurwitz-stability-based sliding mode stabilization control method for an underactuated unmanned surface vehicle. With consideration of the influence on the environmental interference force, a stabilization control error equation of an unmanned surface vehicle is established; a stabilization control error model is decoupled by coordinate transformation and control input transformation; a new control variable is defined to carry out system transformation, so that two stabilization control error sub systems being convenient to realize controller design are obtained; sliding mode controllers of two sub systems are designed respectively and control input inverse transformation is carried out to obtain an actual control force and a control torque; and a sliding mode controller parameter is designed based on a Hurwitz stability condition and thus a sliding mode control law of thestabilization control of the unmanned surface vehicle is obtained. According to the invention, the system robustness is enhanced by compensating the disturbing force in the controller; and the sliding mode control surface parameters are determined according to the Hurwitz stability condition, so that the controller has the good convergence performance.

Description

technical field [0001] The invention relates to the technical field of stabilization control of unmanned boats, in particular to a sliding mode stabilization control method for underactuated unmanned boats based on Hurwitz stability. Background technique [0002] The surface unmanned vehicle is an unmanned marine vehicle, which is mainly used for military and non-military purposes such as patrol, reconnaissance, search and rescue, hydrographic survey, and so on. Because unmanned boats can perform tasks that are dangerous and unsuitable for manned ships, they have attracted the attention of navies around the world. [0003] Conventional surface unmanned vehicles have no direct control input in the lateral direction, so they have underactuated characteristics and do not satisfy the Brockett lemma condition. It is difficult to directly use the non-holonomic system control method to solve the stability control problem of unmanned vehicles. The existing unmanned vehicle stabiliz...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 万磊曾江峰李岳明郑晓波徐钰斐牛广智
Owner HARBIN ENG UNIV