Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Track tracking control method for unmanned boat based on disturbance observer and rbfnn

A technology for interfering with observers and track tracking, applied in the field of track tracking control of unmanned boats, to achieve the effects of improving track tracking control performance, reducing track tracking errors, and ensuring stability

Active Publication Date: 2021-04-20
ZHEJIANG UNIV
View PDF10 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Track tracking control method for unmanned boat based on disturbance observer and rbfnn
  • Track tracking control method for unmanned boat based on disturbance observer and rbfnn
  • Track tracking control method for unmanned boat based on disturbance observer and rbfnn

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0033]In order to make the objectives, technical solutions and advantages of the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It will be appreciated that the specific embodiments described herein are intended to explain the present invention and is not intended to limit the invention. Further, the technical features according to each of the various embodiments described below can be combined with each other as long as they do not constitute a collision between each other.

[0034]The implementation technical solution of the present invention is:

[0035]Step 1: Comprehensive consideration of uncertainty and external interference, establish a nonlinear dynamic model of unoccupied boats, seefigure 1 The establishment of the nonlinear dynamics model of the unknown boat is:

[0036]

[0037]

[0038]Among them, τ represents the control / torque of the drownboat. M0Represents the inertia matrix of the drownb...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an unmanned boat track tracking control method based on a disturbance observer and RBFNN. On the basis of the traditional sliding mode control method, the present invention establishes the nonlinear dynamic model of the unmanned boat, designs the disturbance observer to observe and compensate strong external disturbances such as wind, wave and current, and designs the RBFNN to estimate and compensate the model of the unmanned boat Uncertain parts (including parameter uncertainties and modeling errors, etc.), while ensuring system stability, reduce the track tracking error of the unmanned boat, and greatly improve the track tracking control effect. While ensuring the stability of the control system, the invention reduces the track tracking error of the unmanned boat and improves the track tracking control performance.

Description

Technical field[0001]The invention belongs to the area of ​​the trajectory tracking control of the unobbo. Specifically, it is a non-human boat track tracking control method under complex marine environment (sea breeze, waves, and seafruit). Stability of track tracking control system is guaranteed. At the same time, reduce the trajectory tracking error of no boat, and improve the trajectory tracking performance of no boat.Background technique[0002]In recent years, marine safety investigation and resource exploration have gradually become hot, and with the development of electromechanical control technology, the automation and intelligent levels of the drownboat are also increasing. Since the unmanned boat has the advantages of modular and intelligent, the complex marine operation tasks can be implemented for a long time, a wide range, low cost, and has a wide range of demand in military and civilian. In military fields, drones can be used in intelligence collection, anti-submarine o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 陈正张有功唐建中聂勇朱世强
Owner ZHEJIANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com