Unmanned ship path tracking control method based on finite time guidance and control

Abstract

The invention discloses an unmanned ship path tracking control method based on finite time guidance and control. The unmanned ship path tracking control method based on the finite time guidance and control comprises the following steps that dynamic states of path tracking errors are calculated; a finite time sideslip observer is designed; a hyperbolic tangent sight line guidance law is designed; afinite time disturbance observer is designed; and a controller based on the finite time observers is designed. According to the unmanned ship path tracking control method based on the finite time guidance and control, the speed and course angle are simultaneously guided through the provided hyperbolic tangent sight line guidance law according to the tracking errors and the designed finite time sideslip observer, and the stability and the flexibility of a guidance system are improved; the time-varying large drift angle can be accurately observed by the designed finite time sideslip observer, the observation error is ensured to be zero within finite time, the error convergence speed is increased, the robustness is improved, and the boundedness of bounded and asymptotic observation can be avoided; and complicated external disturbance can be accurately observed, the observation error is ensured to be zero within the finite time, and the boundedness of the bounded and asymptotic observation can be avoided.

Description

technical field [0001] The invention belongs to the field of unmanned ship control, in particular to an accurate path tracking control method for an underactuated unmanned ship. Background technique [0002] In recent years, underactuated unmanned ships have attracted extensive attention from researchers due to their small size, fast speed, high sensitivity, and superior performance in completing complex maritime tasks. The path tracking technology level of unmanned ships has greatly affected the water surface The quality and economic performance of unmanned ships to complete various complex tasks is a research hotspot in the field of ship control research. [0003] The path tracking control system is usually divided into two subsystems: guidance and control. Currently, the commonly used tracking control method is mainly the virtual ship guidance method based on the line-of-sight guidance algorithm. It is assumed that the target path is the track of the virtual ship. Contro...

AI Technical Summary

Problems solved by technology

[0004] In the design of the control system, methods such as backstepping control, sliding mode control, cascade control, adaptive control, homogeneous control, fuzzy control, neural network control and their combinations have been widely used in the motion control of unmanned ships. , but these control methods cannot fully compensate for uncertain items due to excessive reliance on precise mathematical models, so that precise control of unmanned ships cannot be achieved

[0005] In order to achieve the guidance effect, it is usually necessary to design the two parameters of speed and heading in the guidance control of unmanned ships. However, in the previous guidance methods, the speed of the ship is usually predefined as a constant, which reduces the difficulty of design. One control item is reduced, so that the unmanned ship is only controlled by the rudder, which leads to an increase in the burden of rudder control, a decrease in the flexibility of the control system, and the response speed of the system is not fast enough to achieve a good guidance effect

[0006] In the design of the control system, the existing technology does not realize the accurate estimation and compensation of the disturbance and uncertain items, which reduces the control precision of the control system and fails to achieve a more ideal control effect

Images