Auv Motion Control Method Based on Finite Time Extended State Observer

An expanded state, finite time technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problem that the disturbance estimation error of expanded state observer does not have finite time convergence characteristics, and achieve good disturbance estimation accuracy , the effect of strong robustness and good finite-time convergence characteristics

Inactive Publication Date: 2021-07-27
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, a AUV motion control method based on a finite time dilation state observer includes the following steps:

[0084] A. Consider the dynamic uncertainty in the AUV state space expression (7) and the disturbance uncertainty caused by the ocean current to the AUV as a three-dimensional total disturbance vector d, the actual position of the front end of the underactuated AUV of the controlled object is the output ξ of the AUV, and the state space expression (7) of the AUV is expanded to the motion mathematical model shown in the formula (8);

[0085] B. Design a finite time expansion state observer; the finite time expansion state observer obtains the AUV motion state x according to the control input τ and output ξ of the AUV 1 、x 2 The estimated z 1 ,z 2 and an estimate of the total disturbance z 3 ;

[0086] C. Design AUV motion compound control law based on exte...

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Abstract

The invention discloses an AUV motion control method based on a finite time expansion state observer, considers the under-actuated characteristics of the AUV, introduces coordinate transformation to define the output vector of the AUV to solve the under-actuated problem, and realizes a more practical three-dimensional motion control of the under-actuated AUV . In the present invention, the finite-time extended state observer (ESO for short) is designed to provide the estimated value of the total disturbance formed by the dynamic uncertainty and disturbance uncertainty of the AUV, and does not require an accurate AUV motion mathematical model and prior knowledge of the ocean current disturbance. Knowledge, with strong robustness, can make AUV have good control effect under different ocean current disturbances, and can reduce conservatism. Because the designed finite-time expansion state observer has good disturbance estimation precision and finite-time convergence characteristic, the invention improves the response speed and control precision of the motion control system of the under-actuated AUV.

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 finite time expansion state observer. Background technique [0002] In recent years, the development and utilization of marine resources has continued to advance to the deep sea and the far sea. Autonomous underwater vehicles (AUV) play an important role in marine operations such as subsea oil and gas exploration and exploitation, subsea mineral resource development, subsea pipeline inspection and marine environment monitoring. The AUV system itself has the characteristics of strong coupling, strong nonlinearity, dynamic uncertainty, etc., and will be disturbed by ocean currents during navigation. Therefore, it is particularly important to study the robust control of AUV motion to improve the anti-interference ability of AUV during operation, and it can provide guarantee for the safety and reliability of AUV related marine opera...

Claims

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Application Information

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Patent Type & Authority Patents(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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