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.
CN111624878AActive Publication Date: 2020-09-04QUFU NORMAL UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
QUFU NORMAL UNIV
Publication Date
2020-09-04

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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.
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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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