Unmanned surface vehicle trajectory tracking control method under time-lag asymmetric time-varying full-state constraints
A trajectory tracking and control method technology, applied in the field of control, can solve problems such as poor control effect and no consideration of time-delay constraints
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
specific Embodiment approach 1
[0072] This embodiment is a method for tracking and controlling the trajectory of an unmanned surface vehicle under the constraint of time-delay asymmetric time-varying full state, including the following steps:
[0073] 1. Establish a closed-loop system for surface unmanned vehicles:
[0074] A 3-degree-of-freedom surface unmanned vehicle dynamics model with multiple inputs and multiple outputs is expressed as follows:
[0075]
[0076] in, Including the position in the geodetic coordinate system (η x , η y ) and heading angle (η ψ ). Including surge velocity v x , the swaying speed v y , Yaw velocity v ψ . is a symmetric positive definite inertial matrix, represents centripetal force and Coriolis torque, is the damping matrix, g(η) represents the restoring force caused by gravity, ocean current and buoyancy, and w is the external disturbance. J(η) is a non-singular transformation matrix, the non-singular transformation matrix J(η) from satellite coordinate...
Embodiment
[0272] In order to verify the effectiveness of the semi-globally uniformly bounded control method and the finite-time control method proposed in the present invention, simulations are carried out using the scheme of the specific embodiment 1.
[0273] The present invention uses the model ship Cybership II, a 1:70 replica of a survey ship built by the Norwegian University of Science and Technology's Marine Control Laboratory.
[0274] The desired trajectory chosen is as follows:
[0275] x 1d (t)=[x 1xd (t),x 1yd (t),x 1ψd (t)] T
[0276]
[0277]
[0278] External disturbances are assumed as follows:
[0279] w(t)=[w 1 (t),w 2 (t),w 3 (t)] T
[0280]
[0281] The symmetric positive definite inertia matrix M, centripetal force and Coriolis force torque C(ν), and damping matrix D(ν) are as follows:
[0282]
[0283]
[0284]
[0285] Corresponding hydrodynamic parameter among the present invention is as follows: m=23.8, I z =1.76,x g =0.046,X u =...
PUM
Login to View More Abstract
Description
Claims
Application Information
Login to View More 
PatSnap Eureka turns technology decisions into work you can execute. Powered by our Innovation Knowledge Graph, it runs expert workflows across engineering, life sciences, materials and intellectual property. Get your review-ready output in minutes.
