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An adaptive fault-tolerant control method for umv state time-delay systems based on sliding mode technology

A time-delay system and fault-tolerant control technology, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as single situation and state time-delay, achieve high practicability and overcome negative effects

Active Publication Date: 2022-04-29
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

And because the UMV and the land console are connected through the network, the status lag phenomenon often occurs
However, the existing technology considers a single situation and cannot solve these problems well

Method used

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  • An adaptive fault-tolerant control method for umv state time-delay systems based on sliding mode technology
  • An adaptive fault-tolerant control method for umv state time-delay systems based on sliding mode technology
  • An adaptive fault-tolerant control method for umv state time-delay systems based on sliding mode technology

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Embodiment Construction

[0053] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0054] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention provides an adaptive fault-tolerant control method of a UMV state time-delay system based on sliding mode technology, comprising: constructing a thruster failure model and a disturbed UMV state time-delay system; Die surface; Based on the designed sliding mode surface, a sliding mode fault-tolerant controller is designed. Based on the designed sliding mode fault tolerant controller, an adaptive mechanism is designed to complete the adaptive sliding mode fault tolerant control strategy. The technical solution of the present invention is based on sliding mode technology, adopts the method of combining fault-tolerant control and self-adaptive mechanism, not only overcomes the negative impact of state time lag and various thruster failures on UMV, but also can estimate various unknown parameters online.

Description

technical field [0001] The invention relates to the technical field of fault-tolerant control of unmanned ships, in particular to an adaptive fault-tolerant control method for a UMV state time-delay system based on sliding mode technology. Background technique [0002] UMV is a general term, including unmanned / autonomous underwater vehicle (UUV / AUV) and unmanned surface vessel (USV). With the rapid development of ocean development in recent decades, the research on UMV motion control has attracted a large number of researchers at home and abroad. The main research fields include: dynamic positioning, heading control, trajectory tracking, target tracking, etc.; the main technical methods involve: sliding mode control, backstepping, event triggering, neural network, etc. Under complex ocean conditions, studying the influence of state time-lag and propeller failure on UMV has high practical significance for high-precision and accurate control of UMV (reducing yaw angle error)....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郝立颖张赫
Owner DALIAN MARITIME UNIVERSITY
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