A deep backstepping control method for underactuated cableless underwater robot based on dynamic surface sliding mode
An underwater robot and backstepping control technology, applied in the field of robotics, can solve problems such as weak tracking ability of expected path, optimization of differential explosion, etc., to achieve elimination of differential explosion phenomenon, strong tracking ability, and solve model uncertainty and environmental interference problem effect
Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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But this method is not optimized for differential explosion, and the ability to track the desired path is not strong
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[0058] The present invention will be further described below in conjunction with the accompanying drawings:
[0059] like figure 1 , the present invention proposes a depth backstepping control method of underactuated cableless underwater robot based on dynamic surface sliding mode under the condition of external disturbance and model uncertainty. Include the following steps:
[0060] Step 1. Combined with the motion model equation of the cableless underwater robot in the vertical plane, determine that the control target is the convergence of the tracking error;
[0061] Step 2. Using the information in Step 1, the Lyapunov function is designed based on the backstepping method, and virtual control variables are introduced. In order to eliminate the differential explosion phenomenon caused by the traditional backstepping method, a dynamic surface is designed;
[0062]Step 3. Combine steps 1 and 2 to design a sliding surface and an adaptive control law to solve the depth contro...
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The invention belongs to the field of robots, and discloses a depth backstepping control method for an underactuated cableless underwater robot based on a dynamic surface sliding mode, comprising the following steps: step (1): combining the kinematics of the cableless underwater robot in a vertical plane model, and determine the control target as the convergence of tracking error; step (2): design Lyapunov function based on backstepping method, introduce dummy control variables, and design a dynamic surface to eliminate the differential explosion phenomenon caused by traditional backstepping method; step (3): combine Steps (1) and (2) design sliding surface and adaptive control law to solve the depth control problem; Step (4): Combine the data in steps (2) and (3), according to Lyapunov stability theory and Comparing the principle, the closed-loop tracking error is used to adjust the gain to converge to a compressed bounded set close to zero to ensure the semi-globally consistent boundedness of the control system. The invention solves the problems of model uncertainty and environmental interference, and has strong tracking ability to the desired path.
Description
technical field [0001] The invention belongs to the field of robots, and in particular relates to a depth backstepping control method for an underactuated cableless underwater robot based on a dynamic surface sliding mode. Background technique [0002] Underwater robots are mainly divided into two categories: one is a cabled underwater robot, which is used to be called a remote-controlled submersible; the other is a cableless underwater robot, which is used to be called an autonomous underwater vehicle. Autonomous underwater robot is a new generation of underwater robot, which has the advantages of large activity range, good maneuverability, safety and intelligence, and has become an important tool to complete various underwater tasks. For example, in the civil field, it can be used for laying pipelines, seabed investigation, data collection, drilling support, seabed construction, maintenance and repair of underwater equipment, etc.; in the military field, it can be used for...
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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 严浙平杨泽文赵欣怡吴迪曾佳王海滨
Owner HARBIN ENG UNIV