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Fixed time fast trajectory tracking control method for benthic Auv based on disturbance approximation

A fixed time, trajectory tracking technology, applied in non-electric variable control, control/regulation system, height or depth control, etc., can solve problems such as difficult to achieve fast and high-precision trajectory tracking control, and achieve fast and high-precision trajectory tracking control Effect

Active Publication Date: 2021-12-10
HARBIN ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is: in view of the problem that it is difficult to realize fast and high-precision trajectory tracking control in the prior art, a kind of benthic AUV fixed-time fast trajectory tracking control method based on disturbance approximation is proposed

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  • Fixed time fast trajectory tracking control method for benthic Auv based on disturbance approximation
  • Fixed time fast trajectory tracking control method for benthic Auv based on disturbance approximation
  • Fixed time fast trajectory tracking control method for benthic Auv based on disturbance approximation

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specific Embodiment approach 1

[0082] Specific implementation mode one: refer to figure 1 Specifically illustrate the present embodiment, the benthic AUV fixed-time fast trajectory tracking control method based on the disturbance approximation described in the present embodiment includes the following steps:

[0083] Step 1: Establish the motion equation of the benthic AUV, and construct the trajectory tracking error model according to the motion equation of the benthic AUV;

[0084] Step 2: Construct a fast fixed-time convergence system, and design an observer based on the fast fixed-time convergence system and the trajectory tracking error model, and estimate the disturbance lumped term according to the observer;

[0085] Step 3: Design the fixed-time sliding mode surface based on the fast fixed-time convergence system;

[0086] Step 4: Design the controller using fast fixed-time convergent system, fixed-time sliding mode surface and disturbance lumped term.

[0087] Related key technologies

[0088] T...

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Abstract

A fixed-time fast trajectory tracking control method for benthic AUVs based on disturbance approximation, which involves the field of underwater vehicle control. Aiming at the problem that it is difficult to achieve fast and high-precision trajectory tracking control in the prior art, it includes step 1: establishing a benthic AUV The motion equation, and construct the trajectory tracking error model according to the benthic AUV motion equation; Step 2: Construct a fast fixed-time convergence system, and design the observer according to the fast fixed-time convergence system and the trajectory tracking error model, and estimate the disturbance according to the observer Lumped term; Step 3: Design the fixed-time sliding mode surface based on the fast fixed-time convergent system; Step 4: Design the controller by using the fast fixed-time convergent system, the fixed-time sliding mode surface and the disturbance lumped term. The application can realize fast and high-precision trajectory tracking control.

Description

technical field [0001] The invention relates to the field of underwater vehicle control, in particular to a method for controlling a benthic AUV fixed-time fast trajectory tracking based on disturbance approach. Background technique [0002] As an important tool for human exploration and development of the ocean, autonomous underwater vehicles (AUVs) can play a very important role in military and civilian fields. At present, AUVs are mainly divided into two types: cruising AUVs for large-scale operations and hovering AUVs for small-scale operations. Although these two AUVs can play a great role in daily work, they also have relatively large defects, 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. It is very meaningful to develop a new type of AUV with high autonomy and the characteristics of both cruise AUV and hovering AUV, which can realize further observation of the ocean. The...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 孙延超杜雨桐曹禹万磊秦洪德张宇昂夏光庆
Owner HARBIN ENG UNIV