Under-actuated UUV trajectory tracking sliding-mode control method for input time lag

A technology of trajectory tracking and control method, applied in non-electric variable control, control/regulation system, height or depth control, etc., can solve the problems of increased system overshoot, unstable system divergence, and poor control effect.

Active Publication Date: 2019-10-08
HARBIN ENG UNIV
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

On the one hand, in the actual application of engineering, the time delay problem of UUV propeller, steering gear and other actuators will lead to the delay of control force and torque output, which will increase the system overshoot, deteriorate the control effect, and even cause the system to diverge. unstable
On the other hand, the introduction of the input time delay leads to the characteristic equation of the system having infinitely many characteristic roots and becoming an infinite-dimensional system. At this time, the trajectory tracking control strategy based on the traditional Lyapunov stability theory is no longer applicable
In addition, the underactuated UUV trajectory tracking control is also affected by external disturbances

Method used

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  • Under-actuated UUV trajectory tracking sliding-mode control method for input time lag
  • Under-actuated UUV trajectory tracking sliding-mode control method for input time lag
  • Under-actuated UUV trajectory tracking sliding-mode control method for input time lag

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Embodiment Construction

[0107] The present invention will be further described below in conjunction with the accompanying drawings.

[0108] A method for sliding mode control of underactuated UUV trajectory tracking for input time lag, comprising the following steps:

[0109] In step 1, according to the current task, the UUV gives the expected trajectory position information to the UUV, and collects data through the on-board navigation equipment and sensors to obtain the current position X(t)=[x(t),y(t),z (t)] T Information, attitude [θ(t), ψ(t)] T Information, speed V(t)=[u(t), v(t), w(t), q(t), r(t)] T information.

[0110] In step 2, using the information in step 1, the underactuated UUV model is simplified to a UUV five-degree-of-freedom time-delay motion model, and the position and attitude information of the desired trajectory at the current moment is derived to obtain the tracking pose error and tracking velocity error.

[0111] The mathematical model of the underactuated UUV involved incl...

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Abstract

The invention, which belongs to the field of unmanned underwater vehicle control research, particularly relates to an under-actuated UUV trajectory tracking sliding-mode control method for the input time lag. On the basis of the control idea of the cascaded system, longitudinal, heading and pitching control laws of an integrated time-delay sliding mode for eliminating the virtual control error arecalculated for external unknown boundary disturbance and parameter perturbation; according to the control laws, the longitudinal speed, heading angle, and pitching angle speed of the UUV are adjusted, thereby completing the UUV trajectory tracking sliding-mode control process. According to the invention, the virtual under-actuated UUV is established and the under-actuated UUV trajectory trackingcontrol problem is converted into the tracking error stabilization problem, so that the computing process is simplified; with the sliding-mode control, the control performance and robustness of the system are enhanced; and the time constraint requirements of the position, speed and attitude by under-actuated UUV three-dimensional trajectory tracking are met.

Description

technical field [0001] The invention belongs to the field of underwater unmanned vehicle control research, in particular to an underactuated UUV trajectory tracking sliding mode control method for input time lag. Background technique [0002] The space trajectory tracking and control capability of Unmanned Underwater Vehicle (UUV) is one of the core capabilities for ocean exploration. The present invention is designed for a class of underactuated UUV systems for the following two reasons: (1) the underactuated design can greatly simplify the UUV hardware system; (2) if part of the auxiliary propulsion device of the full-actuated UUV fails, the system It will show underactuated characteristics, and the conventional trajectory tracking control method cannot meet the control requirements. In summary, the research on the space trajectory tracking control method of underactuated UUV not only has theoretical value, but also meets the actual control requirements. [0003] The und...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 周佳加赵欣怡吴迪孙庆鹏严浙平叶丁绮
Owner HARBIN ENG UNIV
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