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Under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation

A trajectory tracking and control method technology, applied in attitude control, non-electric variable control, electric speed/acceleration control, etc., can solve problems such as negative impact on tracking performance and damage to system stability

Active Publication Date: 2020-01-03
HARBIN ENG UNIV
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Problems solved by technology

Time lag will have a serious negative impact on the tracking performance of the underactuated UUV trajectory tracking control system that requires high real-time tracking, and even destroy the stability of the entire system

Method used

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  • Under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation
  • Under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation
  • Under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation

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Embodiment Construction

[0021] The following examples describe the present invention in more detail.

[0022] combine figure 1 , a kind of UUV level track tracking control method under the input time lag comprises the steps:

[0023] In step 1, according to the current task, the expected trajectory information X d (t)=[x d (t),y d (t),ψ d (t)] T Pass it to the UUV, and collect data through the navigation equipment and sensors carried by the UUV to obtain the current position information and heading information X(t)=[x(t),y(t),ψ(t)] T And speed information V(t)=[u(t), v(t), r(t)] T , x(t), y(t), ψ(t) are longitudinal displacement, lateral displacement and heading angle respectively, u(t), v(t), r(t) are longitudinal velocity, transverse velocity and bow angle respectively Angular velocity, x d (t),y d (t),ψ d (t) is the expected longitudinal displacement, lateral displacement and heading angle, X d (t) is the vector representation of the desired trajectory information.

[0024] In step 2, ...

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Abstract

The invention provides an under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation. The under-actuated UUV horizontal plane trajectory tracking control method comprises the steps of: step 1, acquiring position and attitude information according to a current task by means of a UUV; step 2, acquiring position and attitude error variables under motion coordinates by utilizing a mathematical model of the under-actuated UUV; 3, calculating a virtual control law by stabilizing the position and attitude error variables; step 4, constructing a position and attitude state predictor according to a kinematics model of the UUV, and constructing a speed state predictor according to a dynamics model of the UUV; step 5, and constructing an actual trajectory tracking control law of the UUV according to predicted state information. Under the condition that time delay exists in an under-actuated UUV executing mechanism, the UUV under the action of a UUV trajectory tracking controller designed through adopting the method can realize precise tracking of the plane trajectory, and the designed controller better meets the actual engineering requirements.

Description

technical field [0001] The invention relates to a motion control method of an underactuated underwater unmanned vehicle, in particular to a horizontal track tracking control method of an underactuated UUV under input time lag. Background technique [0002] The ocean area on the earth is vast, and the vast ocean contains rich resources. With the progress of human civilization, the importance of resources is becoming more and more important. Therefore, ocean development activities have very important strategic and practical significance. [0003] The development of marine resources is inseparable from the support of science and technology, and UUV is an important tool for the exploration and development of marine resources, especially the trajectory tracking and control capability of UUV is an important technical guarantee for underwater terrain mapping, lifesaving, exploration and other tasks. [0004] The design of traditional UUV trajectory tracking controllers ignores the ...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10G05D13/62
CPCG05D1/0875G05D1/10G05D13/62
Inventor 周佳加陈思妍严浙平张宏瀚杜雪钟荣
Owner HARBIN ENG UNIV
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