AUV motion control method based on finite-time extended state observer

An extended-state, finite-time technology, which is applied in adaptive control, general control systems, control/regulation systems, etc., can solve the problem that the disturbance estimation error of the extended state observer does not have finite-time convergence characteristics, etc.

Inactive Publication Date: 2019-03-26
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

In addition, the disturbance estimation errors of the extended state observers designed by the above two patents do not have finite time convergence characteristics

Method used

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  • AUV motion control method based on finite-time extended state observer
  • AUV motion control method based on finite-time extended state observer
  • AUV motion control method based on finite-time extended state observer

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Embodiment Construction

[0082] Attached below figure 1 The present invention is further described.

[0083] Such as figure 1 As shown, the working principle of the under-driven AUV three-dimensional motion control method based on the finite-time extended state observer is: the under-driven AUV is the controlled object and is affected by the ocean current disturbance. Its output signal ξ is the actual position of the front end of the AUV; AUV The input and output signals are the input of the finite-time extended state observer, and the finite-time extended state observer obtains the AUV motion state x according to the input τ and output ξ of the AUV 1 , X 2 Estimate of z 1 ,z 2 And an estimate of the total disturbance z 3 ; AUV's motion state x 1 Estimate of z 1 Is fed back to the reference input terminal of the AUV and matches the expected output signal ξ of the AUV d Compare, form deviation signal S 1 , Passed to the AUV state error feedback control law; AUV motion state x 2 Estimated value of z 2 Fe...

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Abstract

The invention discloses an AUV motion control method based on a finite-time extended state observer, considers the under-actuated characteristic of AUV, introduces coordinate transformation to definean output vector of the AUV to solve an under-actuated problem and realizes more practical three-dimensional motion control of the under-actuated AUV. The method is advantaged in that due to the design of the finite-time extended state observer (ESO) to provide an estimate of total disturbance formed by dynamic uncertainty and disturbance uncertainty of the AUV, an accurate AUV motion mathematicalmodel and the prior knowledge of ocean current disturbance are not needed, strong robustness is achieved, the AUV is made to have good control effect under different current disturbances, and conservativeness can be further reduced. The method is advantaged in that as the designed finite-time extended state observer has good disturbance estimation accuracy and finite time convergence characteristics, the response speed and control precision of the under-actuated AUV motion control system are improved.

Description

Technical field [0001] The invention relates to the field of marine engineering equipment, in particular to an AUV motion control method based on a limited time expansion state observer. Background technique [0002] In recent years, the development and utilization of marine resources has continued to advance to the deep and far seas. Autonomous underwater robots (AUVs) play an important role in marine operations such as submarine oil and gas exploration and exploitation, submarine mineral resource development, submarine pipeline inspections and marine environment monitoring. The AUV system itself has the characteristics of strong coupling, strong nonlinearity, dynamic uncertainty, etc., and will be interfered by ocean currents during navigation. Therefore, studying the robust control of the AUV movement is particularly important to improve the anti-interference ability of the AUV during operation, and can provide a guarantee for the safety and reliability of the AUV's relevant ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
CPCG05B13/042G05D1/10
Inventor 杜佳璐李健孙玉清
Owner DALIAN MARITIME UNIVERSITY
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