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An Adaptive Fast Velocity Tracking Control Method for Uncertain Underwater Robots

An underwater robot and adaptive controller technology, which is applied in height or depth control, vehicle position/route/height control, control/regulation system, etc., can solve problems such as inability to guarantee limited time error convergence and low tracking accuracy, Achieve the effect of eliminating the need to obtain information, strong robustness, good robustness and tracking accuracy

Active Publication Date: 2021-07-27
YANSHAN UNIV
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AI Technical Summary

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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  • An Adaptive Fast Velocity Tracking Control Method for Uncertain Underwater Robots
  • An Adaptive Fast Velocity Tracking Control Method for Uncertain Underwater Robots
  • An Adaptive Fast Velocity Tracking Control Method for Uncertain Underwater Robots

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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 an...

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Abstract

An adaptive fast speed tracking control method for an uncertain underwater robot, comprising the following steps: aiming at the kinematics model of the underwater robot, designing a control target according to the actual application of the robot; and online estimating the uncertain part of the system model by using the delay estimation technology and unknown external interference, further design an integral terminal sliding mode surface; based on the integral terminal sliding mode surface and the underwater robot kinematics model, design an adaptive controller and define the gain variable in the control law; use the Lyapunov equation to prove the stability of the system, Verify the rationality of the designed integral terminal sliding mode surface and adaptive controller. The invention solves the problem that the existing controller depends on the model information of the underwater robot, that is, the designed controller is independent of the system model, thereby overcoming the influence of model uncertainty and unknown interference on the underwater robot system, and improving the reliability of the system. Robust performance simplifies controller design and is more conducive to application in 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 Patents(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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