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An underactuated uuv trajectory tracking sliding mode control method for input time delay

A trajectory tracking and control method technology, applied in the direction of non-electric variable control, control/regulation system, height or depth control, etc., can solve the problems of system overshoot increase, control effect deterioration, control force and torque output delay, etc. , to achieve the effects of simplifying the calculation process, good control performance, and improving control performance and robustness

Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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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 At this time, the trajectory tracking control strategy based on the traditional Lyapunov stability theory is no longer applicable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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  • An underactuated uuv trajectory tracking sliding mode control method for input time delay
  • An underactuated uuv trajectory tracking sliding mode control method for input time delay
  • An underactuated uuv trajectory tracking sliding mode control method for input time delay

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Embodiment Construction

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

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

[0109] In step 1, the UUV gives the desired trajectory position information to the UUV according to the current task, and collects data through the mounted 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 speed error.

[0111] The mathematical models of the underactuated UUVs involved include the k...

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Abstract

The invention belongs to the research field of underwater unmanned vehicle control, in particular to an underactuated UUV trajectory tracking sliding mode control method for input time delay. Based on the cascade system control idea, the invention calculates the integral time-lag sliding mode longitudinal, heading and pitch control laws to eliminate the virtual control error in view of the unknown bounded disturbance and parameter perturbation in the outside world, and adjusts the longitudinal speed, Heading angular velocity and pitch angular velocity to complete the UUV trajectory tracking sliding mode control process. By establishing a virtual underactuated UUV, the present invention converts the underactuated UUV trajectory tracking control problem into a tracking error stabilization problem, which simplifies the calculation process; uses the sliding mode control, improves the control performance and robustness of the system, and meets the requirements of the underactuated UUV Three-dimensional trajectory tracking requires time constraints on position, velocity, and attitude.

Description

technical field [0001] The invention belongs to the research field of underwater unmanned vehicle control, in particular to an underactuated UUV trajectory tracking sliding mode control method for input time delay. Background technique [0002] The ability to track and control the space trajectory of the Unmanned Underwater Vehicle (UUV) is one of the core capabilities for ocean exploration. The present invention is designed for a type of underactuated UUV system 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 fully driven UUV fails, the system It will exhibit underactuated characteristics, and conventional trajectory tracking control methods cannot meet the control requirements. In conclusion, the research on the control method of underactuated UUV space trajectory tracking not only has theoretical value, but also meets the actual control requirements. [0003] ...

Claims

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Application Information

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Patent Type & Authority Patents(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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