Unmanned surface vehicle preset performance tracking control method based on RISE technology

Abstract

The invention discloses an unmanned surface vehicle preset performance tracking control method based on an RISE technology. The method can be used to solve an unmanned surface vehicle asymptotic tracking control problem of a uncertain system model parameter. The method mainly comprises the following steps of establishing a dynamic mathematical model of an unmanned surface vehicle; presetting transient tracking performance; carrying out tracking error transformation; designing a virtual controller based on a pushback design method; designing an adaptive tracking controller based on an RISE technology; and realizing track tracking control of the unmanned surface vehicle based on the adaptive tracking controller. In the invention, an adaptive feedforward control strategy based on the RISE technology is used to compensate system uncertain dynamics and external unknown disturbances so that the system outputs a reference track expected by asymptotic tracking, which means that a tracking error asymptotically converges to zero; and simultaneously, the preset performance control method can be used to ensure that a closed-loop system satisfies pre-assigned transient tracking performance (which means that the tracking error has a specified convergence speed and overshoot), and the robustness of the control system is increased.

Description

technical field [0001] The invention relates to the field of trajectory tracking control of unmanned surface vehicles, in particular to a tracking control method for preset performance of unmanned surface vehicles based on RISE technology. Background technique [0002] As an intelligent tool to assist humans in performing marine tasks, unmanned surface vehicles play an important role in civil and military fields such as transportation, marine environment monitoring, rescue, and military reconnaissance. Unmanned surface vehicles usually need to reach a pre-designated position under unmanned control, so achieving accurate trajectory tracking control is an important indicator to measure the steady-state performance of the control system of unmanned surface vehicles. In the complex and changeable marine environment, disturbances such as strong winds, waves, and ocean currents are almost inevitable, and are usually difficult to measure accurately. The existence of disturbance ma...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art, and propose a method for tracking and controlling the preset performance of unmanned surface vehicles based on RISE technology, which solves the problem of tracking and controlling the trajectory of unmanned surface vehicles with uncertain system model parameters , and in the case of considering the external unknown disturbance, the asymptotic tracking control of the preset transient performance is realized, in which, the uncertainty of the system is jointly compensated by the adaptive feedforward item and the RISE feedback item, and the adaptive control gain (RISE feedback part of the item) to compensate for the influence of unknown disturbances, and the preset performance control method ensures the transient performance of the tracking error

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