A trajectory tracking control method for surface unmanned vehicle under asymmetric time-varying full-state constraints with time-delay

A control method and trajectory tracking technology, applied in the field of control, can solve problems such as not considering time-delay constraints and poor control effects, and achieve the effects of improving control effects, good trajectory tracking control effects, and solving time-delay constraints

Active Publication Date: 2022-04-15
HARBIN ENG UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing USV trajectory tracking control method does not consider the time lag constraint, the control effect is not good.

Method used

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  • A trajectory tracking control method for surface unmanned vehicle under asymmetric time-varying full-state constraints with time-delay
  • A trajectory tracking control method for surface unmanned vehicle under asymmetric time-varying full-state constraints with time-delay
  • A trajectory tracking control method for surface unmanned vehicle under asymmetric time-varying full-state constraints with time-delay

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Experimental program
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Effect test

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 speed 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 sy...

Embodiment

[0272] In order to verify the effectiveness of the semi-globally uniformly bounded control method and the finite-time control method proposed by the present invention, simulations are carried out using the scheme of the first embodiment.

[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 Ocean 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 =-0.722...

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Abstract

The invention relates to a trajectory tracking control method of an unmanned water surface vehicle under the time-delay asymmetrical time-varying full-state constraints, which belongs to the field of control technology. The present invention aims to solve the problem that the existing USV trajectory tracking control method does not consider the time-delay constraint and causes poor control effect. The present invention uses a shift function to realize the shift conversion of the error variable of the surface unmanned vehicle system, and also designs an asymmetric obstacle Lyapunov function, and designs the corresponding control law and adaptive law to ensure that no matter the initial Regardless of the conditions, the eventually uniform bounded tracking control effect can be achieved, and the asymmetric time-varying constraint with time-delay can be realized after a finite time. It is mainly used for trajectory tracking control of surface unmanned boats.

Description

technical field [0001] The invention belongs to the technical field of control, and in particular relates to a tracking control method for an unmanned water surface vehicle. Background technique [0002] With the advancement of science and technology, the research on maritime unmanned vehicles has developed rapidly, and many different control strategies have emerged. For example, "A novel adaptive second orders sliding mode path following control for a portable AUV" by G.C.Zhang, H.Huang et al., "Three-dimensional path following of an underactuated AUV based on fuzzybackstepping sliding mode control" by X.Liang et al. And "Output-feedback path-following control of autonomous underwater vehicles based on an extended state observer and projection neural networks" by Z.H.Peng et al. studied the path-following control of autonomous underwater vehicles (AUVs). W.Xing et al. "Convergence analysis on multi-auv systems with leader-follower architecture" proposed a multi-AUV coopera...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 秦洪德孙延超李骋鹏曹禹冯睿景锐洁
Owner HARBIN ENG UNIV
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