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.
CN110308735AActive Publication Date: 2019-10-08HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2019-10-08

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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.
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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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