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A Trajectory Tracking Control Method for Underactuated Auv with Transient Performance Constraints

A trajectory tracking and control method technology, applied in the direction of finding the target control, etc., can solve the problems due to the uncertainty of AUV model parameters, the influence of AUV trajectory tracking control, etc., and achieve good performance results

Active Publication Date: 2020-12-08
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] To sum up, there are still three problems in the trajectory tracking control of underactuated AUVs: 1. The model parameters of underactuated AUVs are uncertain; 2. External random disturbances such as ocean currents will have a certain impact on the trajectory tracking control of AUVs; 3. , In order to avoid various dangerous obstacles in the real marine environment, it is necessary to consider the underactuated AUV trajectory tracking control problem under the transient performance constraints

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  • A Trajectory Tracking Control Method for Underactuated Auv with Transient Performance Constraints
  • A Trajectory Tracking Control Method for Underactuated Auv with Transient Performance Constraints
  • A Trajectory Tracking Control Method for Underactuated Auv with Transient Performance Constraints

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Embodiment Construction

[0039] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0040] In this embodiment, an underactuated AUV trajectory tracking control method with transient performance constraints is proposed. This method is an underactuated AUV adaptive inversion control method with transient performance constraints. It mainly includes the following contents:

[0041] Establish the mathematical model of AUV horizontal plane.

[0042] Design a suitable bound function and construct a logarithmic transformation variable of the error.

[0043] On the basis of ensuring the stability of the kinematic layer, the virtual velocity is constructed. At the same time, in order to solve the problem of input saturation and underdrive, the β 1 ,β 2 and beta 3 adaptive law.

[0044] Differentiate the converted error variable and the error betwee...

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Abstract

The invention provides an under-actuated AUV trajectory tracking control method with transient performance constraints. An AUV horizontal plane model is built; an error transformation function with the transient constraint performance is built; and self-adaptive inversion control for an under-actuated characteristic of an underwater vehicle is proposed. Meanwhile, a neural network is used for carrying out real-time estimation on system parameter uncertainty and external time-varying interference; a neural network-based observer is designed to estimate an unmeasurable speed; and the effectiveness of an algorithm is verified by simulation.

Description

technical field [0001] The invention relates to the technical field of horizontal plane trajectory tracking control of an underwater vehicle, in particular to an underactuated self-adaptive inversion control method with transient performance constraints and anti-saturation. Background technique [0002] Autonomous underwater vehicles (AUV) can be widely used in seabed biological resource exploration, mineral resource sampling, seabed topography survey, sunken object salvage, seismic geothermal activity monitoring, marine environment monitoring, marine engineering maintenance, etc. [0003] AUV has strong nonlinear characteristics, and its navigation environment is very complex, and the traditional PID control algorithm is not competent. Because the fluid parameters will change during the voyage, the model parameters are uncertain, and will be randomly disturbed by waves and currents, which requires the control system to have certain robustness and adaptive capabilities. [...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 崔荣鑫严卫生陈乐鹏张福斌高剑黄凯
Owner NORTHWESTERN POLYTECHNICAL UNIV