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

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...

AI Technical Summary

Problems solved by technology

However, in the existing unmanned vehicle control theory, the fuzzy system is mostly used to estimate the controller parameters, and the fuzzy system has not been used to estimate the uncertainty of the unmanned vehicle model, so it is necessary to study it

[0004] In addition, most of the existing track tracking controllers for unmanned vehicles are based on linear dynamic models, which are suitable for tracking specific target tracks near the equilibrium point, but not suitable for tracking complex target tracks at non-equilibrium points.

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