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A nonlinear path tracking control system and method for an underactuated surface vessel

A nonlinear path and control system technology, which is applied in the field of nonlinear path tracking control systems for underactuated surface ships, can solve problems such as the influence of control performance, the input dead zone characteristics of the actuator are not considered, and the effect of improving control performance is achieved.

Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, when designing a path-following control system, most of the controllers designed in the literature do not consider the characteristics of the actuator input dead zone
If the input deadband characteristics of the actuator are not considered, the control performance will be affected

Method used

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  • A nonlinear path tracking control system and method for an underactuated surface vessel
  • A nonlinear path tracking control system and method for an underactuated surface vessel
  • A nonlinear path tracking control system and method for an underactuated surface vessel

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Embodiment Construction

[0041] The present invention will be further described below with reference to the accompanying drawings.

[0042] Based on the input dead zone of the actuator, the present invention designs a nonlinear path tracking control system for an underactuated surface vessel, such as figure 1As shown, it includes a guidance system 1, a control system 2, an actuator 3, a sensor system 6, a longitudinal disturbance observer 13, and a heading disturbance observer 14. The sensor system includes a pose sensor 7 and a speed sensor 8. The sensor system transmits the measured ship pose and speed information to the guidance system 1, the control system 2, the longitudinal disturbance observer 13 and the heading disturbance observer 14, respectively. The guidance system 1 includes a longitudinal speed guide 9 and a heading angle guide 10 , the guidance system 1 calculates the desired longitudinal speed and the desired heading angle, and transmits them to the control system 2 . The longitudinal...

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Abstract

The invention belongs to the technical field of ship path tracking control, and in particular relates to a nonlinear path tracking control system and method for an underactuated surface ship. On the basis of designing the dual guidance law of longitudinal speed and heading angle, and considering the dead zone characteristics of the actuator, the invention designs a controller based on the input dead zone, so that the underactuated surface ship can track the desired path well, and solves the problem of the actuator mechanism. The input dead-band characteristics of the detrimental effects on tracking performance. The present invention designs a desired longitudinal speed and heading angle guidance system according to the path tracking lateral error, which can make the underactuated surface ship reach the desired path more quickly; in addition, based on the input dead zone characteristics of the actuator, the control law is designed to improve the control control performance of the system.

Description

technical field [0001] The invention belongs to the technical field of ship path tracking control, and in particular relates to a nonlinear path tracking control system and method for an underactuated surface ship. Background technique [0002] In recent years, as countries pay more and more attention to the ocean, underactuated surface ships have received a lot of attention from all parties, and they are widely used in military and civilian applications. While performing various tasks, the path following control of the underactuated surface vessel plays a crucial role. [0003] The path tracking problem refers to designing the control commands so that the underactuated surface vessel can reach and track the preset desired path without time limit. Path following control systems are usually divided into guidance systems and control systems. When designing the guidance system for path tracking, most literatures use the line-of-sight method to generate the desired heading ang...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 夏国清王心玮孙创韩志伟
Owner HARBIN ENG UNIV