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Double-rigid-body characteristic point saturation fixed time relative pose tracking control method

A technology of relative pose and fixed time, which is applied in attitude control, three-dimensional position/course control, vehicle position/route/altitude control, etc., and can solve problems such as the inability to simultaneously deal with actuator saturation and fixed time convergence

Active Publication Date: 2020-08-07
UNIV OF SCI & TECH BEIJING
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AI Technical Summary

Problems solved by technology

However, these control methods cannot simultaneously deal with the requirement of fixed-time convergence of actuator saturation. Therefore, under the Lyapunov framework, it is difficult to propose a controller that simultaneously solves the problem of system actuator saturation and meets the requirements of fixed-time convergence of the state.

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  • Double-rigid-body characteristic point saturation fixed time relative pose tracking control method
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  • Double-rigid-body characteristic point saturation fixed time relative pose tracking control method

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Embodiment Construction

[0115] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0116] Embodiments of the present invention provide a method for tracking relative poses and attitudes between feature points of double rigid bodies with saturation fixed time, such as figure 1 As shown, the method includes the following steps:

[0117] S1. Based on the Newton-Euler method, establish the pose dynamic equation of the tracker and the target;

[0118] S2. According to the established dynamic equations of the respective poses of the two rigid bodies and the relative poses and relative velocities between the feature points of the two rigid bodies, establish a relative pose dynamics equation considering model uncertainty;

[0119] S3. Design a fixed-time disturbance observer according to the established relative pose dynamic equation;

[012...

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Abstract

The invention provides a double-rigid-body characteristic point saturation fixed time relative pose tracking control method. The method comprises the steps: establishing a pose kinetic equation of a tracker and a target device based on a Newton-Euler method; establishing a relative pose kinetic equation considering model uncertainty according to the established respective pose kinetic equations ofthe two rigid bodies and the relative pose and the relative speed between the two rigid body feature points; designing a fixed time disturbance observer according to the established relative pose kinetic equation; designing a non-linear saturation compensator according to the established fixed-time non-singular terminal sliding variable so as to solve the saturation effect of an actuator; and combining the established fixed-time disturbance observer and the nonlinear saturation compensator to obtain a model-based robust adaptive controller. The invention relates to the field of control of anautonomous moving body in a three-dimensional space and spacecrafts.

Description

technical field [0001] The invention relates to the control of an autonomous moving body in a three-dimensional space and the technical field of spacecraft, in particular to a method for tracking relative poses and attitudes between feature points of double rigid bodies saturated at fixed time based on a disturbance observer. Background technique [0002] High-precision autonomous relative pose control is an important technology for many practical engineering tasks such as space rendezvous, aerial refueling, and carrier-based aircraft landing. Due to the generally large size of spacecraft, aircraft and underwater vehicles, in the relative motion modeling and autonomous motion control design, it is necessary to consider the pose motion of its feature points, such as the docking port on the spacecraft, the landing point on the aircraft carrier, etc. Control system design for tasks such as ship points, thereby improving system modeling and control accuracy. In addition, due to...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 孙亮王俊
Owner UNIV OF SCI & TECH BEIJING
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