Integral sliding mode acquisition method and system for autonomous water surface robot trajectory tracking

A water surface robot and integral sliding mode technology, applied in general control systems, control/regulation systems, instruments, etc.

Active Publication Date: 2020-09-04
QUFU NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there are many interference factors in the water surface environment where the autonomous surface r

Method used

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  • Integral sliding mode acquisition method and system for autonomous water surface robot trajectory tracking
  • Integral sliding mode acquisition method and system for autonomous water surface robot trajectory tracking
  • Integral sliding mode acquisition method and system for autonomous water surface robot trajectory tracking

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Experimental program
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Effect test

Embodiment 1

[0070] Such as figure 1 As shown, the integral sliding mode acquisition method for autonomous surface robot trajectory tracking includes the following steps:

[0071] Step 100: Establishing the kinematics model and dynamics model of the autonomous surface robot containing external disturbance and the tracked expected trajectory;

[0072] (1) Establish the kinematics model and dynamics model of the autonomous surface robot with external disturbance

[0073]

[0074] in Indicates the position and sailing angle of the autonomous surface robot, υ=[u,ν,r] T represent the linear and angular velocities, is the moment of inertia matrix, M is the inertia matrix, C(υ) is the Coriolis and centripetal matrix, D(υ) is the damping matrix, g(η,υ) is the gravity matrix, τ(t) is the control input, d l (t) is external disturbance, S(r)=[0 -r 0; r 0 0; 0 00];

[0075] (2) Establish a kinematics model and a dynamics model of the tracked desired trajectory,

[0076]

[0077] Step 200...

Embodiment 2

[0102] Such as figure 1 As shown, the integral sliding mode acquisition method of autonomous surface robot trajectory tracking, taking the autonomous surface robot system as an example to illustrate the specific implementation of the method, the steps are:

[0103] Step 100: Establishing the kinematics model and dynamics model of the autonomous surface robot containing external disturbance and the tracked expected trajectory;

[0104] (1) Establish the kinematics model and dynamics model of the autonomous surface robot with external disturbance

[0105]

[0106] in Indicates the position and sailing angle of the autonomous surface robot, υ=[u, ν, r] T Indicates linear velocity and angular velocity is the moment of inertia matrix, is the inertia matrix, are Coriolis and centripetal matrices, is the damping matrix, For external disturbance, g(η, υ) = [0, 0, 0] T is the gravity matrix, and the initial state is selected as η(0)=[2, 1, π / 2] T , υ(0)=[0, 0, 0] T ;...

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Abstract

The invention relates to the technical field of autonomous water surface robot control, in particular to an integral sliding mode obtaining method and system for autonomous water surface robot trajectory tracking. The method comprises the following steps: establishing an autonomous water surface robot containing external interference and a kinematics and dynamics model of a tracked expected trajectory, then, introducing an auxiliary variable, converting a model containing external interference and based on the autonomous water surface robot into a tracking error system model, designing an integral sliding mode surface and a fixed-time interference observer, and designing a trajectory tracking integral sliding mode control scheme of the autonomous water surface robot based on an interference estimation value. The method can effectively reduce the influence of external interference on the autonomous water surface robot, achieves the precise control, and is suitable for the fixed-time trajectory tracking control of the autonomous water surface robot.

Description

technical field [0001] The invention relates to the technical field of autonomous water surface robot control, in particular to an integral sliding mode acquisition method and system for trajectory tracking of an autonomous water surface robot. Background technique [0002] In recent years, attention has been paid to autonomous surface robots. Autonomous surface robots are robots with intelligent behavior that integrate control devices, navigation and positioning devices, self-diagnosis and fault handling devices, measurement devices and energy devices. The control devices are autonomous The control center for the surface robot to operate on the water surface is the core technology of robot control. However, there are many disturbance factors in the water surface environment where the autonomous surface robot is located, and these factors will affect the control device to make correct instructions to the robot. Therefore, it is very important to design the control scheme of...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙海滨崔佳雯宗广灯侯林林杨东
Owner QUFU NORMAL UNIV
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