Rapid tracking control method for horizontal plane trajectory of benthic AUV

A tracking control and trajectory tracking technology, applied in control/adjustment systems, height or depth control, non-electric variable control, etc., can solve problems such as slow adjustment speed and limited control accuracy

Active Publication Date: 2020-09-11
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of limited control accuracy and slow adjustment speed when the current control method is applied to the benthic AUV, and proposes a fast tracking control method for the horizontal plane track of the benthic AUV

Method used

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  • Rapid tracking control method for horizontal plane trajectory of benthic AUV
  • Rapid tracking control method for horizontal plane trajectory of benthic AUV
  • Rapid tracking control method for horizontal plane trajectory of benthic AUV

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specific Embodiment approach 1

[0025] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 1. A method for fast tracking control of a benthic AUV's horizontal trajectory described in this embodiment, the method specifically includes the following steps:

[0026] Step 1. Consider model uncertainty and ocean current disturbance as a disturbance aggregate term τ′ d , to establish the kinematics and dynamics equations of the benthic AUV considering the disturbance lumped term;

[0027] Step 2. Based on the kinematics and dynamics equations established in step 1, an error system for trajectory tracking is established using a backstepping control method;

[0028] Step 3: Design a sliding mode disturbance observer based on the trajectory tracking error system established in step 2, and use the designed sliding mode disturbance observer to calculate the disturbance lumped term τ′ d Approximate to obtain the disturbance lumped term τ′ d observation value;

[0029] Step 4. Observation error of disturbance lumped item...

specific Embodiment approach 2

[0035] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the step 1, the kinematics and dynamics equations of the benthic AUV considering the disturbance lumped item are established, which are specifically:

[0036]

[0037] In the formula, v=[u,v 0 ,r] T , v represents the velocity and angular velocity vector of the benthic AUV in the horizontal plane under the carrier coordinate system, u represents the surge velocity, v 0 represents the sway velocity, r represents the yaw rate; the superscript T represents transposition; η=[x,y,ψ] T Indicates the three-degree-of-freedom pose vector of the benthic AUV in the horizontal plane in the fixed coordinate system, x and y represent the longitudinal and lateral position coordinates of the benthic AUV in the fixed coordinate system, respectively, and ψ represents the heading angle; J( η) represents the coordinate transformation matrix between the fixed coordinate system and the car...

specific Embodiment approach 3

[0042] Specific implementation mode three: the difference between this implementation mode and specific implementation mode two is that the specific process of said step two is:

[0043] Define tracking error:

[0044]

[0045] In the formula, e 1 Indicates the trajectory tracking error; e 2 Indicates the speed tracking error; η d =[x d ,y d ,ψ d ] T Indicates the expected value of the three-degree-of-freedom pose of the benthic AUV in the horizontal plane in a fixed coordinate system, x d is the expected value of x, y d is the expected value of y, ψ d is the expected value of ψ; is η d The first derivative of ; is e 1 The first derivative of ; v d Indicates the expected vector of velocity and angular velocity of the benthic AUV on the horizontal plane in the carrier coordinate system;

[0046] Then the error system for trajectory tracking is established according to formula (2):

[0047]

[0048] In the formula, is e 2 The first derivative of ; is ...

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Abstract

The invention discloses a rapid tracking control method for horizontal plane trajectory of a benthic AUV, and belongs to the technical field of trajectory tracking control of autonomous underwater robots. According to the invention, problems of limited control precision and slow adjustment speed when the current control method is applied to the benthic AUV are solved. According to the method, ocean current disturbance and model uncertainty are combined into a disturbance lumped term, a finite time disturbance observer is used for approaching a disturbance lumped term value, and a neural network is introduced to estimate an observation error. Furthermore, an adaptive neural network backstepping controller based on a finite time disturbance observer is provided to realize finite time high-precision trajectory tracking control of the benthic AUV. The method can be applied to trajectory tracking control of the benthic AUV.

Description

technical field [0001] The invention belongs to the technical field of trajectory tracking control of an autonomous underwater robot, and in particular relates to a method for fast tracking control of a horizontal plane trajectory of a benthic AUV. Background technique [0002] As an important tool for human exploration and development of the ocean, autonomous underwater vehicles (AUV) have great development prospects in both military and civilian fields. At present, according to the working characteristics of AUVs, they can be divided into cruising AUVs for large-scale surveys and hovering AUVs for small-scale observations. Although both types of AUVs have great effects, the corresponding defects are also obvious, such as: the fixed-point observation ability of the cruise AUV is poor, and the large-scale investigation ability of the hovering AUV is poor. Therefore, in order to achieve further observation of the ocean, it is very meaningful to develop a new type of AUV that...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 曹禹孙延超秦洪德万磊张宇昂景锐洁
Owner HARBIN ENG UNIV
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