A Design Method for Trajectory Tracking Control Structure of Marine Robot

Abstract

The invention discloses a design method of a trajectory tracking control structure of a marine robot. The structure includes a rolling time domain optimization control module, a dynamics estimation module, a kinematics estimation module, a longitudinal conversion control module, a yaw direction conversion control module and Marine robots. The present invention performs online rolling optimization and feedback correction on the dynamics of the marine robot through the rolling time domain optimization control module, avoiding the dynamics of the marine robot beyond the constraint range, improving the control performance of the entire trajectory tracking structure, and reducing the tracking error, which can Efficiently control the output dynamics of marine robots. The present invention uses the estimation module to estimate the aggregate uncertainty composed of the uncertainty of marine robot dynamics modeling and the external disturbance in the environment, and then offsets the estimated value as compensation, thereby realizing the elimination of disturbance and effectively The calculation load of the control structure is reduced, the anti-interference ability of the control structure is improved, and the control performance is good.

Description

technical field [0001] The invention relates to the field of marine robots, in particular to a design method for a trajectory tracking control structure of a marine robot. Background technique [0002] In view of the huge advantages and broad prospects of marine robots in terms of light weight and energy consumption, all countries are committed to the research of marine robots, which is at a critical stage of rapid development, and has already had tentative applications in military and civilian fields. , and has achieved great success, such as special operations, ocean cruise regulation, ocean search and rescue, and weather support services. Especially with the rapid development of new technologies and concepts such as communication technology and artificial intelligence, new breakthroughs have been made in the research of marine robots, and there are more and more researches on the trajectory tracking methods of marine robots. Trajectory tracking requires the marine robot ...

AI Technical Summary

Problems solved by technology

[0005] First, some of the existing trajectory tracking control methods use the neural network to estimate the uncertainty of the dynamic system of the marine robot, but they cannot actively deal with the constraint state, that is, the marine robot is driving in a complex environment. The action may produce dynamics outside the constraint range at the next moment, and the performance of the control system is low, thus affecting the control effect of trajectory tracking

[0006] Second, the existing control methods basically rely on directly controlling the input torque signal to control the movement of the marine robot, but in actual situations, the robot is controlled by controlling the voltage signal, and there is a certain relationship between torque and voltage. The proportional relationship, so the method of directly controlling the torque is not conducive to engineering realization

[0007] Third, the existing trajectory tracking control methods basically rely on accurate marine robot models, and the internal and external disturbances of the system, such as uncertainties caused by unknown disturbances caused by modeling errors and road conditions, etc. All presets, and then the trajectory tracking control of the marine robot, which leads to this type of control method can only control the movement of the robot after obtaining the required parameters in advance, which is not conducive to engineering realization

In addition, the control system has a large computational burden, requires many manual adjustment parameters, and the process is cumbersome

[0008] Fourth, the current marine robots will be disturbed in all directions in the actual environment, and most of the systems on the market are underactuated systems. Therefore, the current trajectory tracking control methods of marine robots basically ignore the lateral disturbance. As a result, this control method is unrealistic in practical application

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