A finite-time path tracking output feedback control method for an underactuated surface vessel
A technology with limited time and output feedback, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems that have not been seen yet, achieve the effect of strong anti-interference ability, improve response time, and fast convergence speed
Active Publication Date: 2022-04-26
SHANDONG UNIV OF SCI & TECH
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[0004] However, in the domestic and foreign literature and patent documents, there is no report on the application of the finite-time path tracking output feedback control method to the path tracking of underactuated surface ships.
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[0064] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing and specific embodiment:
[0065] A finite-time path-following output feedback control method for underactuated surface ships, such as figure 1 As shown, it specifically includes the following steps:
[0066] Step 1, using GPS or gyrocompass to obtain the position and attitude information of the underactuated surface ship.
[0067] Step 2, establish the earth coordinate system NO N E and the hull motion coordinate system XO B Y, establish a three-degree-of-freedom motion mathematical model for the underactuated surface ship in the earth coordinate system and the hull motion coordinate system respectively. The three-degree-of-freedom motion mathematical model of the underactuated surface ship is as follows:
[0068]
[0069] In the formula, η=[x,y,ψ] T Indicates the position of the ship, x is the northward position of the ship, y is the eastwar...
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The invention discloses a limited-time path tracking output feedback control method for an underactuated surface ship, and specifically relates to the technical fields of marine development and exploration and underwater topography survey. The present invention establishes the three-degree-of-freedom motion mathematical model and the error dynamic equation of the underactuated surface ship by obtaining the position and attitude information of the ship, and designs a finite time expansion state observer to observe the speed information of the ship and the external environment interference information, based on the speed observation value Design the finite-time LOS guidance law, then design the output feedback controller according to the backstepping method, and design the finite-time nonlinear tracking differentiator, calculate the differential term of the virtual control law in the finite-time heading tracking output feedback controller, and realize the alignment Finite-time path-following output-feedback control for driving a surface vessel. The method of the invention improves the convergence speed, tracking performance and anti-interference ability of the finite-time output feedback control strategy, and is beneficial to ocean development and exploration and underwater terrain survey.
Description
technical field [0001] The invention relates to the technical field of marine development and exploration and underwater topography survey, in particular to a limited-time path tracking output feedback control method for an underactuated surface ship. Background technique [0002] Most ships sailing at sea are under-actuated ships. As long as the propulsion device and steering control equipment are propeller propellers and rudders, but not equipped with side thrusters, it is a typical under-actuated system. Practical engineering problems in complex marine environments, such as maritime cruising, detection of underwater topography, hydrological data acquisition, and maritime operations, all require underactuated surface ships to perform path tracking control operations. Therefore, underactuated surface ship path tracking control Research has important practical value. [0003] For path tracking control of underactuated surface ships, it is necessary to obtain the position in...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 聂君王海霞卢晓盛春阳张治国宋诗斌梁笑
Owner SHANDONG UNIV OF SCI & TECH