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Unmanned ship trajectory tracking safety control method based on slew rate constraint

A technology of trajectory tracking and safety control, applied in the control field of safe navigation of unmanned boats, can solve the problems of cumbersome calculation, few quantitative control methods, and difficult application in practical engineering, so as to avoid complex derivation and prevent the turning angular velocity from being too large. Effect

Pending Publication Date: 2019-12-27
HARBIN ENG UNIV
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Problems solved by technology

There are few existing quantitative control methods for the safe navigation of unmanned boats. The model predictive control (MPC) method of unmanned boats is a quantitative control method that controls the safe navigation of unmanned boats by constraining the state variables of the system. , but this method has the problem that the calculation is very cumbersome and difficult to apply in practical engineering

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  • Unmanned ship trajectory tracking safety control method based on slew rate constraint
  • Unmanned ship trajectory tracking safety control method based on slew rate constraint
  • Unmanned ship trajectory tracking safety control method based on slew rate constraint

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Embodiment Construction

[0051] The following examples describe the present invention in more detail.

[0052] combine figure 1 , the specific steps of the trajectory tracking safety control method for unmanned boats based on slew rate constraints are as follows:

[0053] Step 1: Set the initial pose of the unmanned vehicle to η=[-300], the initial velocity to υ=[200], and set the desired trajectory to:

[0054]

[0055] where x d ,y d ,ψ d ,u d ,r d Denote the desired longitudinal position, desired lateral position, desired heading angle, desired longitudinal velocity and desired heading angular velocity, respectively; represent x respectively d ,y d ,ψ d first derivative with respect to time;

[0056] Set desired longitudinal velocity to u d =10, set the desired heading angular velocity as:

[0057]

[0058] Among them, t represents the simulation time;

[0059] Set the external disturbance as:

[0060]

[0061] Among them, τ wu ,τ wv ,τ wr Respectively represent the exter...

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Abstract

The invention provides an unmanned ship trajectory tracking safety control method based on a slew rate constraint. Firstly, an unmanned ship trajectory tracking controller is designed in considerationof unknown interferences existing in an external environment, an interference observer is introduced to estimate an external time-varying interference, then an estimated value of the disturbance observer for external disturbances is added to the controller to offset external environmental interferences, so that the heading rate of the unmanned ship is prevented from being too fast due to excessive external interferences, thereby affecting the safe navigation of the unmanned ship; secondly, a first-order approximate derivative of the expected heading is obtained by introducing an instruction filter, which not only avoids the complex derivative of the expected heading, but also limits the amplitude of the expected heading, and preparation is made for the design of the following barrier Lyapunov; and finally, a barrier Lyapunov function is introduced to limit a heading rate error, thereby indirectly limiting the heading rate of the unmanned ship within a certain safety range, and ensuring the safe navigation of the unmanned ship.

Description

technical field [0001] The invention relates to a control method for safe navigation of an unmanned boat. Background technique [0002] Because the ocean environment is complex and changeable, and the unmanned boat has the characteristics of small size and light weight, the motion posture of the unmanned boat will inevitably be affected by the interference of the external environment when sailing. Whether the unmanned boat can sail safely is most affected by its turning speed and sideslip angle, and the excessive turning speed is the main factor that directly leads to the excessive side slip angle of the unmanned boat, so that the safe navigation of the unmanned boat has A big security risk. Therefore, in order to ensure the safe navigation of the unmanned boat, the bow angular velocity of the unmanned boat should be strictly restricted within a certain range to avoid the unmanned boat's bow angular velocity exceeding the limit. [0003] At present, most of the research on...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐玉杰付明玉王豫洛尚文飞
Owner HARBIN ENG UNIV
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