Adaptive fast speed tracking control method for uncertain underwater robot

An underwater robot and adaptive controller technology, which is applied in height or depth control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as inability to guarantee limited time error convergence and low tracking accuracy

Active Publication Date: 2020-03-24
YANSHAN UNIV
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Problems solved by technology

Many sliding mode controls can only guarantee asymptotic error convergence, but cannot guarantee finite time error convergence
Time delay estimation can be used to estimate nonlinear and uncertain systems and reduce chattering. However, combining with traditional sliding mode may cause singularity problems and the tracking accuracy is not high.

Method used

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  • Adaptive fast speed tracking control method for uncertain underwater robot
  • Adaptive fast speed tracking control method for uncertain underwater robot
  • Adaptive fast speed tracking control method for uncertain underwater robot

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Embodiment Construction

[0053] see figure 1 , the specific steps of a kind of adaptive fast speed tracking control method for uncertain underwater robot proposed by the present invention are as follows:

[0054] Step S1, aiming at the kinematics model of the underwater robot, design the control target according to the actual application requirements, and use the time delay estimation technology to estimate the uncertain part of the system model and external interference online;

[0055] Kinematics model of underwater robot:

[0056]

[0057] The parameters of the underwater robot system include: M∈R 6×6 is the mass inertia matrix, C(ν)∈R 6×6 is the Coriolis force and centripetal force matrix, D(ν)∈R 6×6 is the nonlinear damping matrix, g(η)∈R 6 is the gravity and buoyancy matrix, τ d ∈ R 6 is the time-varying external disturbance, τ∈R 6 is the control input; η=[x,y,z,φ,θ,ψ] T ∈ R 6 is the displacement and angle of the underwater robot in the static coordinate system, φ, θ, ψ are the roll ...

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Abstract

An adaptive fast speed tracking control method for an uncertain underwater robot comprises the following steps of designing a control target for an underwater robot kinematics model according to the actual application of a robot; estimating an uncertain part of a system model and the unknown external interference online by using a time delay estimation technology, and further designing an integralterminal sliding mode surface; designing an adaptive controller based on the integral terminal sliding mode surface and an underwater robot kinematics model, and defining a gain variable in a controllaw; utilizing a Lyapunov equation to prove the stability of the system, and verifying the rationality of the designed integral terminal sliding mode surface and the self-adaptive controller. According to the present invention, the problem that an existing controller depends on the underwater robot model information, is solved, namely the designed controller is independent of the system model, sothat the influence of the model uncertainty and the unknown interference on an underwater robot system is overcome, the robust performance of the system is improved, the controller design is simplified, and the method is conducive to being applied to the engineering practice.

Description

technical field [0001] The invention relates to the field of underwater robot system control, in particular to an adaptive fast speed tracking control method for uncertain underwater robots. Background technique [0002] Underwater robots are mainly used for underwater detection and information collection. They are often used for water condition monitoring of embankments and dams, underwater information collection of river bridge piers, offshore wharf and port maintenance, underwater detection of ship outer bodies, offshore oil and gas exploration, etc. scientific and military fields. At present, the control of underwater robots is facing great challenges. On the one hand, it has a strong nonlinear system, and on the other hand, underwater robots mostly use underwater detection in unknown environments. Due to its strong nonlinearity and coupling, the uncertainty of motion parameters and the complex working environment, underwater robots are easily affected by external inter...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 杨亚娜陈奕行甘露李军朋华长春
Owner YANSHAN UNIV
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