Unmanned ship track tracking control method based on disturbance observer and RBFNN

Abstract

The invention discloses an unmanned ship track tracking control method based on a disturbance observer and an RBFNN. The method is based on a traditional sliding mode control method. According to theinvention, the method comprises: establishing the nonlinear kinetic model of the unmanned ship; designing the disturbance observer to observe and compensate strong external disturbance such as wind wave flow, and designing the RBFNN to estimate and compensate the model uncertainty part (including parameter uncertainty and modeling error) of the unmanned ship, so that the stability of the system isensured, the flight path tracking error of the unmanned ship is reduced, and the flight path tracking control effect is greatly improved. According to the invention, the stability of the control system is ensured, the track tracking error of the unmanned ship is reduced, and the track tracking control performance is improved.

Description

technical field [0001] The invention belongs to the field of track tracking control of unmanned boats, and specifically relates to a track tracking control method for unmanned boats under complex marine environments (sea wind, waves, and currents), and ensures the stability of the track tracking control system. At the same time, it reduces the track tracking error of the unmanned ship and improves the track tracking performance of the unmanned ship. Background technique [0002] In recent years, marine safety investigation and resource exploration have gradually become hot spots. With the development of electromechanical control technology, the level of automation and intelligence of unmanned boats is also constantly improving. Due to the advantages of modularization and intelligence, unmanned boats can perform complex marine operations for a long time, in a wide range, and at low cost by carrying smart sensors, and have extensive demands in the military and civilian fields....

AI Technical Summary

Problems solved by technology

[0003] The present invention aims at the deficiencies of the existing unmanned boat track tracking control technology, and proposes a kind of unmanned boat track tracking control method based on disturbance observer and RBFNN (radial basis function neural network), in order to solve the problem of unmanned boat track tracking control technology. The influence of model uncertainty (modeling error and parameter uncertainty) and external disturbances (sea wind, waves, currents, etc.) Error, improve the track tracking control performance of unmanned boat

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