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Unmanned surface vehicle tracking error constraint control method under random disturbance

A tracking error, random interference technology, applied in two-dimensional position/channel control, adaptive control, general control system and other directions, can solve problems such as loss, unmanned boat collision with reef ships, unmanned boat unsafe and other issues

Inactive Publication Date: 2020-03-06
SOUTH CHINA UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the actual sailing process of the unmanned boat, if the error is not restricted, the unmanned boat may collide with the surrounding reefs or ships, causing huge losses
From this point of view, unconstrained tracking error is very unsafe for the control of unmanned ships

Method used

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  • Unmanned surface vehicle tracking error constraint control method under random disturbance
  • Unmanned surface vehicle tracking error constraint control method under random disturbance
  • Unmanned surface vehicle tracking error constraint control method under random disturbance

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Embodiment

[0106] This embodiment mainly describes the tracking error constrained control of the unmanned ship under random interference. figure 1 It is a structural schematic diagram of the unmanned boat in the working area of ​​this embodiment.

[0107] Such as figure 2 As shown, the unmanned vehicle tracking error constraint control method under random interference in this embodiment, its detailed implementation process includes:

[0108] Step (1): The kinematics model of the UAV is:

[0109]

[0110] The kinematic equation of the system in the above formula, where, η=[x y ψ] T Indicates that the UAV is in the earth coordinate system (O e x e Y e ) under the position (x, y) and the heading angle ψ under the earth coordinate system; υ=[u, v, r] T Each component in corresponds to the body coordinate system (o b x b the y b ) under forward velocity u, sway velocity v and steering angular velocity r;

[0111] The rotation matrix J(ψ) is

[0112]

[0113] The dynamic eq...

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Abstract

The invention discloses an unmanned surface vehicle tracking error constraint control method under a random disturbance, which designs a controller for an unmanned surface vehicle under the random disturbance, and ensures that the tracking errors are finally converged to a zero point. The method comprises the following steps of constructing a kinematics model and a kinetic model of the unmanned surface vehicle; considering the existence of external random disturbances in a marine dynamic environment, describing the kinetic model of the unmanned surface vehicle as a standard non-linear stochastic model form; using a tangent barrier Lyapunov function to ensure that the tracking errors meet the constraint condition, and using a backstepping method to design a virtual controller for a trackingerror system of the unmanned surface vehicle; and using an adaptive control technology to solve the problem of parameter uncertainty in the controller design. The unmanned surface vehicle tracking error constraint control method under the random disturbance provided by the invention can realize the accurate tracking of the trajectory under a random disturbance environment, the errors satisfy a preset boundary condition, and the control effect is good.

Description

technical field [0001] The invention belongs to the technical field of trajectory tracking control of an unmanned boat, and in particular relates to a tracking error constraint control method of an unmanned boat under random interference. Background technique [0002] In the past two decades, due to the wide application of unmanned vehicles in the fields of environmental measurement, ocean sampling and sea rescue, the tracking and control of unmanned vehicles has attracted more and more attention from the control engineering and oceanographic circles. To accomplish these tasks effectively, the desired motion trajectory needs to be accurately tracked. However, achieving precise trajectory tracking control is a challenging task. [0003] There are usually external random disturbances such as ocean currents, sea winds, and waves in unknown ocean dynamics. These disturbances will seriously affect the control performance and may even lead to instability of the closed-loop system...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05D1/0088G05D1/0206
Inventor 戴诗陆邹宇骏杨辰光
Owner SOUTH CHINA UNIV OF TECH
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