Track Tracking Control Method of Unmanned Boat Based on Disturbance Observer and Fuzzy System

A technology of interference observer and track tracking, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of uncertain and inappropriate model of unmanned ship in fuzzy system, and ensure control stability , Improve control performance, good transient and steady-state response performance

A technology of interference observer and track tracking, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of uncertain and inappropriate model of unmanned ship in fuzzy system, and ensure control stability , Improve control performance, good transient and steady-state response performance

CN111198502BActive Publication Date: 2021-04-09ZHEJIANG UNIV
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  • Track Tracking Control Method of Unmanned Boat Based on Disturbance Observer and Fuzzy System
  • Track Tracking Control Method of Unmanned Boat Based on Disturbance Observer and Fuzzy System
  • Track Tracking Control Method of Unmanned Boat Based on Disturbance Observer and Fuzzy System

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Embodiment Construction

[0042]The present invention will be further described below with reference to the accompanying drawings.

[0043]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.

[0044]The present invention is further described with reference to the drawings:

[0045]The technical solution of the present invention is:

[0046]Step 1: Derify the nonlinear dynamics model of the drowboat:

[0047]

[0048]

[0049]Among them, τ represents the control input of the drownboat. M0Indicates the inertia matrix of the u...

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Abstract

The invention discloses an unmanned boat track tracking control method based on a disturbance observer and a fuzzy system. Aiming at the three control difficulties of system nonlinearity, model uncertainty and external interference in the track tracking control process of the unmanned boat, the present invention designs a track tracking control method of the unmanned boat based on the interference observer and the fuzzy logic system. . Design a disturbance observer to observe and compensate for external disturbances such as sea wind, waves, and currents encountered by the unmanned vehicle during navigation, and design a fuzzy logic system to estimate and compensate for the uncertainty of the model of the unmanned vehicle system. Based on the nonlinear dynamics of the unmanned vehicle The sliding mode controller is designed by the learning model to ensure the stability and effectiveness of the navigation control of the unmanned boat.

Description

Technical field[0001]The present invention belongs to the field of control of the drownboat. Specifically, it is possible to drive without a model uncertainty (modeling error and parameter uncertain) and external interference (sea breeze, waves, sea flow) The control method of label track tracking target track, improve the stability and robustness of the drone trajectory tracking.Background technique[0002]Since the drownboat has an irreplaceable advantage in automation and intelligence, in recent years, it has been widely used in military and commercial sectors, such as marine environmental resources exploration, sea search and rescue, and so on. When there is an unstead of working at sea, it is often disturbed by an external environment such as sea breeze, waves, and seafronts. It is necessary to study the estimation and compensation of external interference for unoccupied boats, and improve track tracking control performance.[0003]At the same time, in the modeling process, there i...

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Application Information

Patent Timeline
09 Apr 2021
Publication
CN111198502B
IPC
G05B13/04
CPC
G05B13/042
Inventors
陈正; 张有功