Underwater robot motion path tracking method based on sliding mode robust control

An underwater robot, a technology of robot movement, applied in the field of robotics

Pending Publication Date: 2020-09-18
NANJING INST OF TECH
View PDF3 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method for tracking the motion path of an underwater robot based on sliding mode robust control, which solves the problem

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Underwater robot motion path tracking method based on sliding mode robust control
  • Underwater robot motion path tracking method based on sliding mode robust control
  • Underwater robot motion path tracking method based on sliding mode robust control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0056] Such as Figure 1-Figure 5 A motion path tracking method for an underwater robot based on sliding mode robust control is shown, including the following steps:

[0057] Step 1: Establish the autonomous underwater robot navigation system, underwater robot control system and central server cluster, and the central server cluster communicates with the autonomous underwater robot navigation system through Wi-Fi;

[0058] The autonomous underwater robot navigation system is used to collect underwater information, robot attitude information and inertial navigation information;

[0059] The underwater robot control system is used for attitude adjustment, center of gravity adjustment and motion control of the underwater robot;

[0060] Establish target data acquisition module, linear Kalman filter, sliding mode robust control module, disturbance observer and path control module in the central server cluster;

[0061]The target data collection module is used to regularly collec...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an underwater robot motion path tracking method based on sliding mode robust control, and belongs to the technical field of robots. According to the invention, unknown ocean current and other external bounded interferences are considered; the latest technology of path tracking control is expanded; under the condition that a target attitude measurement value is given, the linear velocity and the angular velocity of the target are estiminated by using a Kalman filter; the robustness of bounded interference is realized by adopting sliding mode control; interference is directly compensated by using an interference observer to calculate an estimated value, so that an underwater robot is enabled to converge to a motion path more quickly; the technical problem in guaranteeing asymptotic stability of a path tracking error under the condition that the underwater robot is subjected to bounded interference and target speed estimation is inaccurate is solved, and the globalasymptotic stability of underwater robot path tracking control is guaranteed under the condition that target speed and environmental disturbance have bounded estimation errors.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a motion path tracking method of an underwater robot based on sliding mode robust control. Background technique [0002] Underwater robot path tracking is usually to set an ideal geometric path in the underwater space coordinate system, and perform motion control along the pre-specified geometric path (relative to the moving target frame) according to the set control method to realize its tracking. sports. It has important research significance in underwater escort, pipeline inspection, seabed survey, and marine life tracking. However, the existing underwater robot path tracking methods are easily disturbed by the underwater external environment, such as ocean currents and seabed mutations, which seriously affect the movement of underwater robots. [0003] The current limitations of underwater robot path tracking control: [0004] 1. It needs to be assumed that the attitude and v...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 陈国军陈丝雨陈巍史金飞
Owner NANJING INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap